133
Total objective tests
34
Objectives passed
0
Objectives failed
99
Objectives skipped
9.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass58 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 · 21858 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1790365293.68084955 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1790365294.32438779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.01sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_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 + 4.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2).[0m ×2 + 6.34sINFOjoint_trajectory_controllerReceived new action goal ×3599 + 6.34sINFOjoint_trajectory_controllerAccepted new action goal ×3599 + 6.34sINFOros2_control_nodeReceived new action goal[0m ×7198 + 6.34sINFOros2_control_nodeAccepted new action goal[0m ×7198 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890044 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890044 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073140 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073140 ms (missed cycles : 2).[0m ×2 + 8.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×6 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020569 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020569 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901408 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901408 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685614 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685614 ms (missed cycles : 2).[0m ×2 + 11.36sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.36sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.36sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628372 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628372 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875820 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875820 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164585 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164585 ms (missed cycles : 3).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882783 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776818 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776818 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025321 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025321 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101828 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101828 ms (missed cycles : 3).[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125918 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125918 ms (missed cycles : 2).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181758 ms (missed cycles : 2). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181758 ms (missed cycles : 2).[0m ×2 + 20.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876491 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876491 ms (missed cycles : 2).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153209 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153209 ms (missed cycles : 3).[0m ×2 + 22.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354189 ms (missed cycles : 2). + 22.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354189 ms (missed cycles : 2).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675707 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675707 ms (missed cycles : 2).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329358 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329358 ms (missed cycles : 2).[0m ×2 + 25.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093012 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093012 ms (missed cycles : 2).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707238 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707238 ms (missed cycles : 2).[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077236 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077236 ms (missed cycles : 2).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765771 ms (missed cycles : 2). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765771 ms (missed cycles : 2).[0m ×2 + 29.68sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041744 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041744 ms (missed cycles : 2).[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303484 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303484 ms (missed cycles : 2).[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223245 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223245 ms (missed cycles : 2).[0m ×2 + 33.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865844 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.865844 ms (missed cycles : 2).[0m ×2 + 34.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977928 ms (missed cycles : 2). + 34.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977928 ms (missed cycles : 2).[0m ×2 + 35.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668178 ms (missed cycles : 2). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668178 ms (missed cycles : 2).[0m ×2 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792177 ms (missed cycles : 3). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792177 ms (missed cycles : 3).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471545 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471545 ms (missed cycles : 3).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673741 ms (missed cycles : 6). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673741 ms (missed cycles : 6).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755216 ms (missed cycles : 4). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755216 ms (missed cycles : 4).[0m ×2 + 40.08sWARNros2_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 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196467 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196467 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760162 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760162 ms (missed cycles : 2).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724427 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724427 ms (missed cycles : 2).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954437 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954437 ms (missed cycles : 2).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671908 ms (missed cycles : 2). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671908 ms (missed cycles : 2).[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052477 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052477 ms (missed cycles : 2).[0m ×2 + 46.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 46.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365338.21959400 seconds ×3 + 46.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 46.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 46.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961642 ms (missed cycles : 3). + 47.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961642 ms (missed cycles : 3).[0m ×2 + 47.29sINFOobjective_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: ""
+ 47.29sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1790365338.85634875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.53sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 47.54sINFOros2_control_node[2026-09-25 19:42:19.020] [info] Received new action goal ×2 + 47.54sINFOros2_control_node[2026-09-25 19:42:19.020] [info] Accepted new action goal ×2 + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106219 ms (missed cycles : 5). + 48.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106219 ms (missed cycles : 5).[0m ×2 + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308531 ms (missed cycles : 3). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308531 ms (missed cycles : 3).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083001 ms (missed cycles : 2). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083001 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 154 warnings · 323 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×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 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.06sINFOros2_control_node[2026-09-25 19:40:43.146] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-25 19:40:43.146] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852127 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852127 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274047 ms (missed cycles : 6). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.274047 ms (missed cycles : 6).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223905 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223905 ms (missed cycles : 2).[0m ×2 + 10.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.19sINFOros2_control_node[2026-09-25 19:40:46.275] [info] Received new action goal ×2 + 10.19sINFOros2_control_node[2026-09-25 19:40:46.275] [info] Accepted new action goal ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043740 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043740 ms (missed cycles : 2).[0m ×2 + 10.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×6 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595429 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595429 ms (missed cycles : 2).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498003 ms (missed cycles : 5). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.498003 ms (missed cycles : 5).[0m ×2 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 13.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.21sINFOros2_control_node[2026-09-25 19:40:49.288] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-09-25 19:40:49.288] [info] Accepted new action goal ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.167285 ms (missed cycles : 6). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.167285 ms (missed cycles : 6).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697876 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697876 ms (missed cycles : 3).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761235 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761235 ms (missed cycles : 3).[0m ×2 + 15.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 16.16sINFOobjective_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 + 16.16sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.16sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.16sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335142 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335142 ms (missed cycles : 3).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836384 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836384 ms (missed cycles : 2).[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391715 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391715 ms (missed cycles : 2).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196058 ms (missed cycles : 6). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.196058 ms (missed cycles : 6).[0m ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255370 ms (missed cycles : 2). + 20.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255370 ms (missed cycles : 2).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741428 ms (missed cycles : 4). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741428 ms (missed cycles : 4).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312588 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312588 ms (missed cycles : 3).[0m ×2 + 23.73sINFOobjective_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 + 23.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.73sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.73sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704068 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704068 ms (missed cycles : 2).[0m ×2 + 24.64sINFOros2_control_node[2026-09-25 19:41:00.725] [info] Received new action goal ×2 + 24.64sINFOros2_control_node[2026-09-25 19:41:00.725] [info] Accepted new action goal ×2 + 25.08sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372790 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372790 ms (missed cycles : 3).[0m ×2 + 25.83sINFOobjective_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 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.11sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 26.16sINFOros2_control_node[2026-09-25 19:41:02.244] [info] Received new action goal ×2 + 26.16sINFOros2_control_node[2026-09-25 19:41:02.244] [info] Accepted new action goal ×2 + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180802 ms (missed cycles : 2). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180802 ms (missed cycles : 2).[0m ×2 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814413 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814413 ms (missed cycles : 2).[0m ×2 + 28.44sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 28.44sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.46sINFOros2_control_node[2026-09-25 19:41:04.536] [info] Received new action goal ×2 + 28.46sINFOros2_control_node[2026-09-25 19:41:04.536] [info] Accepted new action goal ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995749 ms (missed cycles : 2). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995749 ms (missed cycles : 2).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349454 ms (missed cycles : 4). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349454 ms (missed cycles : 4).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389568 ms (missed cycles : 4). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389568 ms (missed cycles : 4).[0m ×2 + 31.46sINFOros2_control_node[2026-09-25 19:41:07.546] [info] Received new action goal ×2 + 31.46sINFOros2_control_node[2026-09-25 19:41:07.546] [info] Accepted new action goal ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643300 ms (missed cycles : 4). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643300 ms (missed cycles : 4).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513830 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513830 ms (missed cycles : 2).[0m ×2 + 33.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364950 ms (missed cycles : 2). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364950 ms (missed cycles : 2).[0m ×2 + 34.06sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 34.06sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.11sINFOros2_control_node[2026-09-25 19:41:10.190] [info] Received new action goal ×2 + 34.11sINFOros2_control_node[2026-09-25 19:41:10.190] [info] Accepted new action goal ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349312 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349312 ms (missed cycles : 2).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884370 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884370 ms (missed cycles : 2).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378090 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378090 ms (missed cycles : 2).[0m ×2 + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019613 ms (missed cycles : 4). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019613 ms (missed cycles : 4).[0m ×2 + 39.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416947 ms (missed cycles : 2). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416947 ms (missed cycles : 2).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078445 ms (missed cycles : 2). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078445 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487027 ms (missed cycles : 2). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487027 ms (missed cycles : 2).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691010 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691010 ms (missed cycles : 2).[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273078 ms (missed cycles : 4). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273078 ms (missed cycles : 4).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832484 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832484 ms (missed cycles : 2).[0m ×2 + 44.82sINFOros2_control_node[2026-09-25 19:41:20.906] [info] Received new action goal ×2 + 44.82sINFOros2_control_node[2026-09-25 19:41:20.906] [info] Accepted new action goal ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125229 ms (missed cycles : 3). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125229 ms (missed cycles : 3).[0m ×2 + 45.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1790365282.06305766 seconds ×3 + 46.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.57sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.76sINFOobjective_server_nodeObjective `Push Button` starting at time: 1790365282.84613657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252273 ms (missed cycles : 3). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252273 ms (missed cycles : 3).[0m ×2 + 47.78sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 47.80sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.81sINFOros2_control_node[2026-09-25 19:41:23.890] [info] Received new action goal ×2 + 47.81sINFOros2_control_node[2026-09-25 19:41:23.890] [info] Accepted new action goal ×2 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956795 ms (missed cycles : 2). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956795 ms (missed cycles : 2).[0m ×2 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701975 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701975 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record Surface Coverage Demo | record_surface_coverage_demo.xml | 23.1s | 3 errors · 91 warnings · 291 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sERRORobjective_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: 1790365403.94340086 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.24sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.24sINFOobjective_server_nodecaller: ×8 + 3.24sINFOobjective_server_nodetype: 0 ×8 + 3.24sINFOobjective_server_nodename: "" ×8 + 3.24sINFOobjective_server_nodeinstance_id: "" ×8 + 3.24sINFOobjective_server_node ×8 + 3.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1790365404.54350400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869551 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869551 ms (missed cycles : 4).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 6.57sINFOros2_control_node[2026-09-25 19:43:27.817] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-25 19:43:27.817] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035985 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035985 ms (missed cycles : 2).[0m ×2 + 8.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827832 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827832 ms (missed cycles : 2).[0m ×2 + 9.46sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 9.47sINFOros2_control_node[2026-09-25 19:43:30.717] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-09-25 19:43:30.717] [info] Accepted new action goal ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226490 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226490 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970922 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970922 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684517 ms (missed cycles : 5). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684517 ms (missed cycles : 5).[0m ×2 + 12.54sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 12.58sINFOros2_control_node[2026-09-25 19:43:33.830] [info] Received new action goal ×2 + 12.58sINFOros2_control_node[2026-09-25 19:43:33.830] [info] Accepted new action goal ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092836 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092836 ms (missed cycles : 3).[0m ×2 + 13.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384333 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384333 ms (missed cycles : 3).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806716 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806716 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997825 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997825 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024237 ms (missed cycles : 4). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024237 ms (missed cycles : 4).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916698 ms (missed cycles : 5). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916698 ms (missed cycles : 5).[0m ×2 + 19.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389950 ms (missed cycles : 3). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389950 ms (missed cycles : 3).[0m ×2 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345672 ms (missed cycles : 4). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345672 ms (missed cycles : 4).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508755 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508755 ms (missed cycles : 3).[0m ×2 + 21.95sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 21.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 21.97sINFOros2_control_node[2026-09-25 19:43:43.218] [info] Received new action goal ×2 + 21.97sINFOros2_control_node[2026-09-25 19:43:43.218] [info] Accepted new action goal ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 25.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 25.76sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 26.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 26.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 26.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 26.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 26.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 26.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 27.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 27.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 27.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.15sINFOobjective_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 + 27.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 27.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 27.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 27.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 27.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 27.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 28.00sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 28.00sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 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 · 14914 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2453 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2453 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4906 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4906 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954437 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954437 ms (missed cycles : 2).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671908 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671908 ms (missed cycles : 2).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052477 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052477 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×4 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365338.21959400 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961642 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961642 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_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: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1790365338.85634875 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-25 19:42:19.020] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-25 19:42:19.020] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106219 ms (missed cycles : 5). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.106219 ms (missed cycles : 5).[0m ×2 + 5.28sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.34sINFOobjective_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 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308531 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308531 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083001 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083001 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108006 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108006 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765871 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765871 ms (missed cycles : 2).[0m ×2 + 9.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×4 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162390 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162390 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625196 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625196 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795073 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795073 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359209 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359209 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172039 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172039 ms (missed cycles : 2).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.435821 ms (missed cycles : 5). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.435821 ms (missed cycles : 5).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272911 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272911 ms (missed cycles : 2).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835692 ms (missed cycles : 3). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835692 ms (missed cycles : 3).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729435 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729435 ms (missed cycles : 2).[0m ×2 + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507693 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507693 ms (missed cycles : 2).[0m ×2 + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835895 ms (missed cycles : 2). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835895 ms (missed cycles : 2).[0m ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993010 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993010 ms (missed cycles : 2).[0m ×2 + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 25.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 26.04sINFOobjective_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: ""
+ 26.04sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.32sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 27.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Live Surface Coverage Demo | live_surface_coverage_demo.xml | 18.0s | 3 errors · 80 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 1 iterations (0.00297561 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.42sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Accepted new action goal ×2 + 0.85sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3).[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.84sINFOobjective_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 + 2.85sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.85sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sERRORobjective_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: 1790365204.96422529 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1790365205.78796148 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 5.659912 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659912 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.72sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2).[0m ×2 + 7.37sINFOobjective_server_nodePlanning for 49 path waypoints. ×3 + 7.42sINFOros2_control_node[2026-09-25 19:40:09.517] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-09-25 19:40:09.517] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875270 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875270 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300348 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300348 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532155 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532155 ms (missed cycles : 3).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055173 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055173 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467275 ms (missed cycles : 4). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467275 ms (missed cycles : 4).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315520 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315520 ms (missed cycles : 4).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949601 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949601 ms (missed cycles : 3).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502774 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502774 ms (missed cycles : 3).[0m ×2 + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133315 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133315 ms (missed cycles : 2).[0m ×2 + 16.79sINFOobjective_server_nodeLogMessage Info: Live coverage recorded. ×3 + 16.89sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 16.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 16.91sINFOros2_control_node[2026-09-25 19:40:19.013] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-09-25 19:40:19.013] [info] Accepted new action goal ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648690 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648690 ms (missed cycles : 3).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493592 ms (missed cycles : 3). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493592 ms (missed cycles : 3).[0m ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760460 ms (missed cycles : 3). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760460 ms (missed cycles : 3).[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194392 ms (missed cycles : 3). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194392 ms (missed cycles : 3).[0m ×2 + 20.83sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1790365222.92813015 seconds ×3 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692866 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692866 ms (missed cycles : 2).[0m ×2 + 21.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 21.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.37sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 21.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1790365223.52355266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.58sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 21.58sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 21.59sINFOros2_control_node[2026-09-25 19:40:23.687] [info] Received new action goal ×2 + 21.59sINFOros2_control_node[2026-09-25 19:40:23.687] [info] Accepted new action goal ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098491 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098491 ms (missed cycles : 3).[0m ×2 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752821 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752821 ms (missed cycles : 3).[0m ×2 + 24.07sINFOros2_control_node[2026-09-25 19:40:26.171] [info] Received new action goal ×2 + 24.07sINFOros2_control_node[2026-09-25 19:40:26.171] [info] Accepted new action goal ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662996 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662996 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.6s | 59 errors · 42 warnings · 393 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 0.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.25sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 0.25sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 0.25sERRORobjective_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: 1790365439.45514297 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.79sINFOobjective_server_nodecaller: ×8 + 0.79sINFOobjective_server_nodetype: 0 ×8 + 0.79sINFOobjective_server_nodename: "" ×8 + 0.79sINFOobjective_server_nodeinstance_id: "" ×8 + 0.79sINFOobjective_server_node ×8 + 0.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 1.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 1.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.96sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.98sINFOobjective_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 + 1.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.71sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1790365444.95446420 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752055 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752055 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539926 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539926 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754119 ms (missed cycles : 5). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754119 ms (missed cycles : 5).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199748 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199748 ms (missed cycles : 3).[0m ×2 + 10.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.053689 ms (missed cycles : 7). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.053689 ms (missed cycles : 7).[0m ×2 + 11.56sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.58sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORweb_video_auth_proxy-23process has died [pid 7455, 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 + 11.58sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.58sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.59sERRORweb_bridge_auth_proxy-22process has died [pid 7454, 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 + 11.59sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.59sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.59sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.60sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.60sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.61sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.61sINFOvideo_server-21process has finished cleanly [pid 7453] ×2 + 11.61sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.62sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.62sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.62sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.63sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.63sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.64sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.64sINFOcontroller_managerShutdown request received.... + 11.64sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.64sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.64sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.64sINFOvideo_server2026/09/25 19:44:10 INF shutting down gracefully ×2 + 11.64sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.64sINFOvideo_server2026/09/25 19:44:10 INF [WebRTC] closing ×2 + 11.64sINFOvideo_server2026/09/25 19:44:10 INF [RTSP] closing ×2 + 11.64sINFOvideo_server2026/09/25 19:44:10 INF waiting for running hooks ×2 + 11.64sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.64sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.64sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.64sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.64sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.64sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.64sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.64sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.64sERRORmove_groupStack trace (most recent call last) in thread 7798: ×2 + 11.64sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.64sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.64sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.64sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.64sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.64sINFOcontroller_managerShutting down the controller manager. + 11.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.64sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.64sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.64sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.64sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.64sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.65sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32f2b69cc3, in __clone ×2 + 11.65sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32f2adcb83, in ×2 + 11.65sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32f2d6fdb3, in ×2 + 11.65sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f32f34d3b44, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.65sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32f3101620, in rclcpp::Rate::sleep() ×2 + 11.65sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32f3043d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.65sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32f3005087, in ×2 + 11.65sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.65sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32f2d3e390, in __cxa_throw ×2 + 11.65sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32f2d28a54, in std::terminate() ×2 + 11.65sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32f2d3e0d9, in ×2 + 11.65sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32f2d28ff4, in ×2 + 11.65sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32f2a688fe, in abort ×2 + 11.65sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32f2a8527d, in raise ×2 + 11.65sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32f2adec0c, in pthread_kill ×2 + 11.65sERRORmove_groupAborted (Signal sent by tkill() 7371 0) ×2 + 11.66sERRORmove_group-9process has died [pid 7371, 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_8s_f1quz --params-file /tmp/launch_params_2isc0oae --params-file /tmp/launch_params_3ny122fz --params-file /tmp/launch_params_mhqignje --params-file /tmp/launch_params_dhd7fv8e --params-file /tmp/launch_params_eni7jxn8']. ×2 + 11.85sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.85sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.85sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.64sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7451] ×2 + 12.64sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.66sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7375] ×2 + 12.67sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7374] ×2 + 12.70sINFOwaypoint_manager_node-11process has finished cleanly [pid 7373] ×2 + 12.70sINFOparameter_manager_node-10process has finished cleanly [pid 7372] ×2 + 12.70sINFOexecute_objective_bridge-17process has finished cleanly [pid 7379] ×2 + 12.71sINFOui_teleop_bridge-18process has finished cleanly [pid 7380] ×2 + 12.77sINFOcomponent_container_mt-16process has finished cleanly [pid 7378] ×2 + 12.77sINFOobjective_server_node[0;m[2026-09-25 19:44:11.976] [moveit_pro_license] [critical] ×2 + 12.77sINFOobjective_server_node************************************************* ×4 + 12.77sINFOobjective_server_node* MoveIt Pro License ×2 + 12.77sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.91sINFOobjective_server_node_main-14process has finished cleanly [pid 7376] ×2 + 12.91sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.80sINFOcomponent_container_mt-15process has finished cleanly [pid 7377] ×2 + 13.94sINFOweb_bridge-19process has finished cleanly [pid 7381] ×2 + 13.94sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.28sINFOros2_control_node-1process has finished cleanly [pid 7320] ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 57 warnings · 203 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493592 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493592 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760460 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760460 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194392 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194392 ms (missed cycles : 3).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` succeeded at time: 1790365222.92813015 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692866 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692866 ms (missed cycles : 2).[0m ×2 + 3.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.24sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.24sINFOobjective_server_nodecaller: ×6 + 3.24sINFOobjective_server_nodetype: 0 ×6 + 3.24sINFOobjective_server_nodename: "" ×6 + 3.24sINFOobjective_server_nodeinstance_id: "" ×6 + 3.24sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1790365223.52355266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.45sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.46sINFOros2_control_node[2026-09-25 19:40:23.687] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-09-25 19:40:23.687] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098491 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098491 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752821 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752821 ms (missed cycles : 3).[0m ×2 + 5.94sINFOros2_control_node[2026-09-25 19:40:26.171] [info] Received new action goal ×2 + 5.94sINFOros2_control_node[2026-09-25 19:40:26.171] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662996 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662996 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316165 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316165 ms (missed cycles : 3).[0m ×2 + 8.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010960 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010960 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863257 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863257 ms (missed cycles : 5).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520073 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520073 ms (missed cycles : 4).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845465 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845465 ms (missed cycles : 3).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2).[0m ×2 + 14.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 14.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1790365234.73276234 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2).[0m ×2 + 15.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.14sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1790365235.41747808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1790365235.48760343 seconds ×3 + 15.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.80sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.85sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.99sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 15.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.00sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 16.00sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 18.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273078 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273078 ms (missed cycles : 4).[0m ×2 + 0.17sINFOobjective_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 + 0.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.17sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.17sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.17sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.17sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832484 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832484 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.10sINFOros2_control_node[2026-09-25 19:41:20.906] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-25 19:41:20.906] [info] Accepted new action goal ×2 + 1.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125229 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125229 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1790365282.06305766 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.85sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.85sINFOobjective_server_nodecaller: ×4 + 2.85sINFOobjective_server_nodetype: 0 ×4 + 2.85sINFOobjective_server_nodename: "" ×4 + 2.85sINFOobjective_server_nodeinstance_id: "" ×4 + 2.85sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Push Button` starting at time: 1790365282.84613657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252273 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252273 ms (missed cycles : 3).[0m ×2 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.09sINFOros2_control_node[2026-09-25 19:41:23.890] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-25 19:41:23.890] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956795 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956795 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701975 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701975 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208933 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208933 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.916958 ms (missed cycles : 8). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.916958 ms (missed cycles : 8).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 7.78sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 7.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.78sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 7.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.78sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 7.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.78sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211299 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211299 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724991 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724991 ms (missed cycles : 3).[0m ×2 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.27sINFOros2_control_node[2026-09-25 19:41:30.075] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-25 19:41:30.075] [info] Accepted new action goal ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803067 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803067 ms (missed cycles : 5).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3).[0m ×2 + 12.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1790365293.68084955 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1790365294.32438779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 14.67sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.68sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Accepted new action goal ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3).[0m ×2 + 15.95sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.1s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247428 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818142 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818142 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.03sINFOros2_control_node[2026-09-25 19:39:08.056] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-25 19:39:08.056] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_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 + 2.41sINFOros2_control_node[2026-09-25 19:39:08.442] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-09-25 19:39:08.442] [info] Canceling active goal... ×2 + 2.43sERRORobjective_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: 1790365148.45799875 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.57sWARNros2_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 + 2.96sINFOobjective_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: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1790365149.06105685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162482 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162482 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.25sINFOros2_control_node[2026-09-25 19:39:09.275] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-25 19:39:09.275] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.311635 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.311635 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993780 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993780 ms (missed cycles : 2).[0m ×2 + 5.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.52sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.53sINFOros2_control_node[2026-09-25 19:39:11.555] [info] Received new action goal ×2 + 5.53sINFOros2_control_node[2026-09-25 19:39:11.555] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884302 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884302 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222944 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222944 ms (missed cycles : 3).[0m ×2 + 8.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216442 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216442 ms (missed cycles : 4).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326084 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326084 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 13.52sERRORobjective_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: 1790365159.55167580 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 14.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.06sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 14.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 15.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.08sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 3 errors · 57 warnings · 412 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.29sINFOros2_control_node[2026-09-25 19:43:52.544] [info] Received new action goal ×2 + 6.29sINFOros2_control_node[2026-09-25 19:43:52.544] [info] Accepted new action goal ×2 + 6.29sINFOros2_control_node[2026-09-25 19:43:52.544] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208835 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208835 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995885 ms (missed cycles : 4). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995885 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816736 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816736 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092615 ms (missed cycles : 5). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092615 ms (missed cycles : 5).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3).[0m ×2 + 11.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 13.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.20sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 13.20sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 13.20sERRORobjective_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: 1790365439.45514297 seconds ×3 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 14.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 14.91sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 14.93sINFOobjective_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 + 14.93sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 14.93sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 15.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.60sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 15.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 16.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592749 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.592749 ms (missed cycles : 6).[0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.48sINFOros2_control_node[2026-09-25 19:39:36.093] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-09-25 19:39:36.093] [info] Accepted new action goal ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038751 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038751 ms (missed cycles : 4).[0m ×2 + 8.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166189 ms (missed cycles : 6). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166189 ms (missed cycles : 6).[0m ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.82sINFOros2_control_node[2026-09-25 19:39:38.431] [info] Received new action goal ×2 + 8.82sINFOros2_control_node[2026-09-25 19:39:38.431] [info] Accepted new action goal ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547316 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547316 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 11.17sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 13.41sINFOobjective_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 + 13.42sERRORobjective_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: 1790365183.02981567 seconds ×3 + 13.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.96sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 14.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 14.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.22sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 14.22sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 208 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.00sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1790365191.04114389 seconds ×3 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063424 ms (missed cycles : 5). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063424 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420342 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420342 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847229 ms (missed cycles : 5). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847229 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1790365194.57034564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874768 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874768 ms (missed cycles : 4).[0m ×2 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.76sINFOros2_control_node[2026-09-25 19:39:54.764] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-25 19:39:54.764] [info] Accepted new action goal ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782702 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782702 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794199 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794199 ms (missed cycles : 5).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781127 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781127 ms (missed cycles : 2).[0m ×2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953457 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953457 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 5 iterations (0.00440623 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (1.81e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.64sINFOros2_control_node[2026-09-25 19:39:59.647] [info] Received new action goal ×2 + 8.64sINFOros2_control_node[2026-09-25 19:39:59.648] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037419 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037419 ms (missed cycles : 3).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406600 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406600 ms (missed cycles : 5).[0m ×2 + 10.15sINFOros2_control_nodeMuJoCo sim: 0.04% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 11.30sINFOobjective_server_nodeFound path in 1 iterations (0.00297561 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.51sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Received new action goal ×2 + 11.51sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Accepted new action goal ×2 + 11.94sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Received new action goal ×2 + 11.94sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Accepted new action goal ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3).[0m ×2 + 13.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.94sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.94sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.96sERRORobjective_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: 1790365204.96422529 seconds ×3 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7).[0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 14.78sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1790365205.78796148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659912 ms (missed cycles : 4). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659912 ms (missed cycles : 4).[0m ×2 + 15.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 15.80sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 15.82sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Received new action goal ×2 + 15.82sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1790365392.94490314 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_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 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1790365393.60313511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.21sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2).[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194194 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194194 ms (missed cycles : 2).[0m ×2 + 6.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067384 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067384 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510696 ms (missed cycles : 5). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510696 ms (missed cycles : 5).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910907 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910907 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4).[0m ×2 + 13.43sINFOobjective_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 + 13.43sERRORobjective_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: 1790365403.94340086 seconds ×3 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3).[0m ×2 + 13.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.97sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 14.03sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1790365404.54350400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3).[0m ×2 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.05sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771785 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771785 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771959 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771959 ms (missed cycles : 4).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813532 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813532 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2).[0m ×2 + 12.62sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sERRORobjective_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: 1790365382.44747758 seconds ×3 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1790365383.04592490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 14.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.81sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Received new action goal ×2 + 14.81sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Accepted new action goal ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6).[0m ×2 + 17.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 57 warnings · 2418 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 + 7.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×4 + 7.82sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.84sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519534 ms (missed cycles : 4). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519534 ms (missed cycles : 4).[0m ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 1 iterations (0.00384026 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.15sINFOros2_control_node[2026-09-25 19:42:45.283] [info] Received new action goal ×2 + 8.15sINFOros2_control_node[2026-09-25 19:42:45.283] [info] Accepted new action goal ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848789 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848789 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758575 ms (missed cycles : 5). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.758575 ms (missed cycles : 5).[0m ×2 + 10.46sINFOros2_control_node[2026-09-25 19:42:47.585] [info] Received new action goal ×2 + 10.46sINFOros2_control_node[2026-09-25 19:42:47.585] [info] Accepted new action goal ×2 + 10.73sWARNros2_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 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 12.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.10sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 12.10sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 13.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 14.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.88sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.99sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.11sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 16.39sWARNros2_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 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 1.78sINFOobjective_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 + 1.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365159.55167580 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.33sINFOobjective_server_nodecaller: ×8 + 2.33sINFOobjective_server_nodetype: 0 ×8 + 2.33sINFOobjective_server_nodename: "" ×8 + 2.33sINFOobjective_server_nodeinstance_id: "" ×8 + 2.33sINFOobjective_server_node ×8 + 2.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078014 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078014 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481090 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481090 ms (missed cycles : 4).[0m ×2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.63sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.93sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 1 iterations (0.00295964 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.25sINFOros2_control_node[2026-09-25 19:39:26.009] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-09-25 19:39:26.009] [info] Accepted new action goal ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469252 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469252 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957075 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957075 ms (missed cycles : 2).[0m ×2 + 10.55sINFOros2_control_node[2026-09-25 19:39:28.311] [info] Received new action goal ×2 + 10.55sINFOros2_control_node[2026-09-25 19:39:28.311] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473942 ms (missed cycles : 4). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473942 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 12.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.19sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 14.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.03sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 14.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 14.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.86sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 14.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.98sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_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 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 + 6.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.29sINFOobjective_server_nodeFound path in 0 iterations (7.03e-07 s). ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780898 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780898 ms (missed cycles : 2).[0m ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.41sINFOobjective_server_nodeFound path in 5 iterations (0.00683755 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (1.95e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.05sINFOros2_control_node[2026-09-25 19:39:48.476] [info] Received new action goal ×2 + 8.05sINFOros2_control_node[2026-09-25 19:39:48.476] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918603 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.918603 ms (missed cycles : 4).[0m ×2 + 9.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231798 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231798 ms (missed cycles : 2).[0m ×2 + 10.31sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.58sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.58sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1790365191.04114389 seconds ×3 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063424 ms (missed cycles : 5). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.063424 ms (missed cycles : 5).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420342 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420342 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847229 ms (missed cycles : 5). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.847229 ms (missed cycles : 5).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.14sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1790365194.57034564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874768 ms (missed cycles : 4). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874768 ms (missed cycles : 4).[0m ×2 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 14.33sINFOros2_control_node[2026-09-25 19:39:54.764] [info] Received new action goal ×2 + 14.34sINFOros2_control_node[2026-09-25 19:39:54.764] [info] Accepted new action goal ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782702 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782702 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794199 ms (missed cycles : 5). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794199 ms (missed cycles : 5).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781127 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781127 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.27sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.60sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_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 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 3.74sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.26sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 + 6.34sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805408 ms (missed cycles : 5). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.805408 ms (missed cycles : 5).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619223 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619223 ms (missed cycles : 3).[0m ×2 + 8.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631438 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631438 ms (missed cycles : 3).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 9.90sINFOros2_control_node[2026-09-25 19:39:04.716] [info] Received new action goal ×2 + 9.90sINFOros2_control_node[2026-09-25 19:39:04.716] [info] Accepted new action goal ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036041 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036041 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247428 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247428 ms (missed cycles : 3).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818142 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818142 ms (missed cycles : 2).[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.24sINFOros2_control_node[2026-09-25 19:39:08.056] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-09-25 19:39:08.056] [info] Accepted new action goal ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843356 ms (missed cycles : 4).[0m ×2 + 13.62sINFOobjective_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 + 13.62sINFOros2_control_node[2026-09-25 19:39:08.442] [info] Got request to cancel active goal. ×2 + 13.62sINFOros2_control_node[2026-09-25 19:39:08.442] [info] Canceling active goal... ×2 + 13.64sERRORobjective_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: 1790365148.45799875 seconds ×3 + 13.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 14.17sINFOobjective_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: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.24sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1790365149.06105685 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162482 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162482 ms (missed cycles : 3).[0m ×2 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.46sINFOros2_control_node[2026-09-25 19:39:09.275] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-09-25 19:39:09.275] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.311635 ms (missed cycles : 6). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.311635 ms (missed cycles : 6).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993780 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993780 ms (missed cycles : 2).[0m ×2 + 16.73sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.74sINFOros2_control_node[2026-09-25 19:39:11.555] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-25 19:39:11.555] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5).[0m ×2 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365382.44747758 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1790365383.04592490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.93sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6).[0m ×2 + 6.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793592 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793592 ms (missed cycles : 5).[0m ×2 + 7.95sINFOros2_control_node[2026-09-25 19:43:07.360] [info] Received new action goal ×2 + 7.95sINFOros2_control_node[2026-09-25 19:43:07.360] [info] Accepted new action goal ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667339 ms (missed cycles : 5). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.667339 ms (missed cycles : 5).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360592 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360592 ms (missed cycles : 3).[0m ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5).[0m ×2 + 12.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5).[0m ×2 + 13.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1790365392.94490314 seconds ×3 + 14.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.13sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.19sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1790365393.60313511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.31sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.32sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Received new action goal ×2 + 14.32sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Accepted new action goal ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4).[0m ×2 + 16.23sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2).[0m ×2 + 1.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1790365234.73276234 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.33sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.33sINFOobjective_server_nodecaller: ×6 + 2.33sINFOobjective_server_nodetype: 0 ×6 + 2.33sINFOobjective_server_nodename: "" ×6 + 2.33sINFOobjective_server_nodeinstance_id: "" ×6 + 2.33sINFOobjective_server_node ×6 + 2.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1790365235.41747808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1790365235.48760343 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.18sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 3.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.94sINFOobjective_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 + 6.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.26sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 715 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.00sINFOobjective_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 + 0.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.02sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.48sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.48sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.71sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.71sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.71sWARNros2_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 + 0.71sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.71sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.71sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.71sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.71sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.71sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.71sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.71sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.71sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.71sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.71sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.71sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.71sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.71sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.71sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.71sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.71sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.71sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.71sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.78sINFOcomponent_container_mt[2026-09-25 19:38:51.204] [moveit_pro_license] [info] ×2 + 0.78sINFOcomponent_container_mt************************************************* ×4 + 0.78sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.78sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.84sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.86sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.86sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.98sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.98sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.01sINFOros2_control_node[2026-09-25 19:38:51.438] [info] Controller state will be published at 10 Hz. ×2 + 1.01sINFOros2_control_node[2026-09-25 19:38:51.439] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.21sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 1.21sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.21sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762602 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762602 ms (missed cycles : 2).[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.28sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.28sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.29sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.30sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.31sINFOros2-7process has finished cleanly [pid 7326] ×2 + 1.32sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.32sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.32sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.32sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.33sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.33sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.62sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.63sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.63sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.66sINFOros2-3process has finished cleanly [pid 7322] ×2 + 1.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.67sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.67sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.68sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.68sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 2.02sINFOros2-4process has finished cleanly [pid 7323] ×2 + 2.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.05sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 2.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.47sINFOros2-5process has finished cleanly [pid 7324] ×2 + 2.52sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 2.52sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 2.55sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.55sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.55sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.55sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.58sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.58sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 2.58sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.81sINFOobjective_server_nodecaller: ×14 + 2.81sINFOobjective_server_nodetype: 0 ×14 + 2.81sINFOobjective_server_nodename: "" ×14 + 2.81sINFOobjective_server_nodeinstance_id: "" ×14 + 2.81sINFOobjective_server_node ×14 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 2.92sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.92sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.92sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.92sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 2.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 2.94sINFOros2-6process has finished cleanly [pid 7325] ×2 + 2.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.96sINFOforce_torque_sensor_broadcasterconfigure successful + 2.96sINFOros2_control_nodeconfigure successful[0m ×2 + 2.96sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.96sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.97sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.97sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.30sINFOros2-2process has finished cleanly [pid 7321] ×2 + 3.34sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 3.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 3.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.40sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 3.40sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOros2-8process has finished cleanly [pid 7327] ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 4.67sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 7.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 7.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.92sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sINFOobjective_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 + 8.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 8.14sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 8.14sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 28 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_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 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 2.41sERRORobjective_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: 1790365439.45514297 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.95sINFOobjective_server_nodecaller: ×8 + 2.95sINFOobjective_server_nodetype: 0 ×8 + 2.95sINFOobjective_server_nodename: "" ×8 + 2.95sINFOobjective_server_nodeinstance_id: "" ×8 + 2.95sINFOobjective_server_node ×8 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.12sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.14sINFOobjective_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 + 4.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4).[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.8s | 3 errors · 26 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 1.39sINFOobjective_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 + 1.40sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 1.40sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 1.40sERRORobjective_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: 1790365439.45514297 seconds ×3 + 1.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.94sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.94sINFOobjective_server_nodecaller: ×8 + 1.94sINFOobjective_server_nodetype: 0 ×8 + 1.94sINFOobjective_server_nodename: "" ×8 + 1.94sINFOobjective_server_nodeinstance_id: "" ×8 + 1.94sINFOobjective_server_node ×8 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.11sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.13sINFOobjective_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 + 3.13sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4).[0m ×2 + 5.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1790365444.95446420 seconds ×3 + 6.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.8s | 23 warnings · 163 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845465 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845465 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1790365234.73276234 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1790365235.41747808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1790365235.48760343 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-25 19:39:28.311] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-25 19:39:28.311] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473942 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473942 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.48sINFOobjective_server_node ×4 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 3.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.43sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 2.84sINFOobjective_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 + 2.85sERRORobjective_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: 1790365159.55167580 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 22 warnings · 566 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 7322] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7323] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 1.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.32sINFOros2-6process has finished cleanly [pid 7325] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.34sINFOforce_torque_sensor_broadcasterconfigure successful + 1.34sINFOros2_control_nodeconfigure successful[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.68sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOros2-8process has finished cleanly [pid 7327] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 3.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 (2.2286e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 1.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.60sINFOobjective_server_nodecaller: ×6 + 2.60sINFOobjective_server_nodetype: 0 ×6 + 2.60sINFOobjective_server_nodename: "" ×6 + 2.60sINFOobjective_server_nodeinstance_id: "" ×6 + 2.60sINFOobjective_server_node ×6 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.13sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.26sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 212 info |
+ 0.00sWARNros2_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 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 1.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365439.45514297 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.53sINFOobjective_server_nodecaller: ×8 + 2.53sINFOobjective_server_nodetype: 0 ×8 + 2.53sINFOobjective_server_nodename: "" ×8 + 2.53sINFOobjective_server_nodeinstance_id: "" ×8 + 2.53sINFOobjective_server_node ×8 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.70sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.72sINFOobjective_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 + 3.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851907 ms (missed cycles : 4).[0m ×2 + 6.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305682 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2308 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 2.84sINFOobjective_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 + 2.85sERRORobjective_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: 1790365159.55167580 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835170 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 2.84sINFOobjective_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 + 2.85sERRORobjective_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: 1790365159.55167580 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.44sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[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 7.374148 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 1.78sINFOobjective_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 + 1.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365159.55167580 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[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 7.374148 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 1.78sINFOobjective_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 + 1.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365159.55167580 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[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 7.374148 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 1.78sINFOobjective_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 + 1.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365159.55167580 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[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 7.374148 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.374148 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.163995 ms (missed cycles : 7).[0m ×2 + 1.78sINFOobjective_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 + 1.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365159.55167580 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850734 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1790365160.14378071 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1790365160.23416066 seconds ×3 + 2.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1790365160.90005684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441655 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-25 19:39:21.103] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641923 ms (missed cycles : 4).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551156 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035072 ms (missed cycles : 5).[0m ×2 + 0.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-09-25 19:39:29.953] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.422481 ms (missed cycles : 4).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1790365171.25021219 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999483 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1790365171.87236142 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1790365171.94248343 seconds ×3 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1790365172.61966062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-25 19:39:32.744] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026458 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866519 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022631 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836016 ms (missed cycles : 3).[0m ×2 + 0.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-25 19:39:40.781] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695012 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983056 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365183.02981567 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710956 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1790365183.63916469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-25 19:39:43.833] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611730 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091750 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022439 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.977361 ms (missed cycles : 5).[0m ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 1 iterations (0.00297561 s). ×2 + 0.34sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.42sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Received new action goal ×2 + 0.42sINFOros2_control_node[2026-09-25 19:40:02.516] [info] Accepted new action goal ×2 + 0.85sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Received new action goal ×2 + 0.85sINFOros2_control_node[2026-09-25 19:40:02.948] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.919410 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197964 ms (missed cycles : 3).[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.84sINFOobjective_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 + 2.85sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.85sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.85sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.86sERRORobjective_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: 1790365204.96422529 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889157 ms (missed cycles : 7).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Live Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Live Surface Coverage Demo" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Live Surface Coverage Demo` starting at time: 1790365205.78796148 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 5.659912 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659912 ms (missed cycles : 4).[0m ×2 + 4.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.72sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-09-25 19:40:06.821] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765354 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 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 3.845465 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845465 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387686 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754644 ms (missed cycles : 2).[0m ×2 + 2.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1790365234.73276234 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 ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178207 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1790365235.41747808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.52sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1790365235.48760343 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.13sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.28sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 87 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 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: 1790365236.08323264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sINFOobjective_server_nodeFound path in 0 iterations (6.46e-07 s). ×2 + 0.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-09-25 19:40:36.227] [info] Accepted new action goal ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378756 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950826 ms (missed cycles : 2).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1790365238.23336172 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161433 ms (missed cycles : 5).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885362 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.74sINFOobjective_server_nodecaller: ×2 + 3.74sINFOobjective_server_nodetype: 0 ×2 + 3.74sINFOobjective_server_nodename: "" ×2 + 3.74sINFOobjective_server_nodeinstance_id: "" ×2 + 3.74sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1790365239.89152765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-25 19:40:40.298] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563709 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491256 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339457 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161922 ms (missed cycles : 3).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1790365293.68084955 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514884 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.76sINFOobjective_server_nodecaller: ×2 + 2.76sINFOobjective_server_nodetype: 0 ×2 + 2.76sINFOobjective_server_nodename: "" ×2 + 2.76sINFOobjective_server_nodeinstance_id: "" ×2 + 2.76sINFOobjective_server_node ×2 + 2.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1790365294.32438779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.00sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.01sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-25 19:41:34.488] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086523 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_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 + 4.29sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693640 ms (missed cycles : 5).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831284 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2308 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2308 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2308 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2308 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×370 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×370 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×740 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×740 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760916 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727731 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993740 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678202 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1790365360.36228943 seconds ×3 + 3.24sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.24sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.24sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.24sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOobjective_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: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1790365361.11633825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-25 19:42:41.310] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.301005 ms (missed cycles : 5).[0m ×2 + 5.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014800 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698168 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221054 ms (missed cycles : 4).[0m ×2 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.68sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-09-25 19:42:49.230] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406968 ms (missed cycles : 3).[0m ×2 + 1.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1790365370.52651095 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451103 ms (missed cycles : 5).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054531 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.48sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.48sINFOobjective_server_nodecaller: ×2 + 3.48sINFOobjective_server_nodetype: 0 ×2 + 3.48sINFOobjective_server_nodename: "" ×2 + 3.48sINFOobjective_server_nodeinstance_id: "" ×2 + 3.48sINFOobjective_server_node ×2 + 3.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1790365372.11697149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-25 19:42:52.241] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884208 ms (missed cycles : 2).[0m ×2 + 4.99sWARNros2_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 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.909693 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484830 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.490246 ms (missed cycles : 5).[0m ×2 + 0.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766219 ms (missed cycles : 2).[0m ×2 + 1.75sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896871 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1790365382.44747758 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290465 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.58sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.58sINFOobjective_server_nodecaller: ×2 + 3.58sINFOobjective_server_nodetype: 0 ×2 + 3.58sINFOobjective_server_nodename: "" ×2 + 3.58sINFOobjective_server_nodeinstance_id: "" ×2 + 3.58sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1790365383.04592490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.93sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-25 19:43:03.342] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283427 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547520 ms (missed cycles : 6).[0m ×2 + 6.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824134 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.695302 ms (missed cycles : 5).[0m ×2 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412221 ms (missed cycles : 3).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942678 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1790365392.94490314 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_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 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.09sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1790365393.60313511 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.21sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-25 19:43:13.727] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785993 ms (missed cycles : 2).[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.368336 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737002 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984182 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931163 ms (missed cycles : 2).[0m ×2 + 1.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257983 ms (missed cycles : 4).[0m ×2 + 2.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sERRORobjective_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: 1790365403.94340086 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765744 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record Surface Coverage Demo"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Record Surface Coverage Demo" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` starting at time: 1790365404.54350400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153583 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.32sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-25 19:43:25.567] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958494 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297732 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021883 ms (missed cycles : 2).[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.66sINFOobjective_server_nodecaller: ×6 + 3.66sINFOobjective_server_nodetype: 0 ×6 + 3.66sINFOobjective_server_nodename: "" ×6 + 3.66sINFOobjective_server_nodeinstance_id: "" ×6 + 3.66sINFOobjective_server_node ×6 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_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 + 4.47sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.34sINFOobjective_server_nodecaller: ×6 + 1.34sINFOobjective_server_nodetype: 0 ×6 + 1.34sINFOobjective_server_nodename: "" ×6 + 1.34sINFOobjective_server_nodeinstance_id: "" ×6 + 1.34sINFOobjective_server_node ×6 + 1.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.34sINFOobjective_server_nodecaller: ×6 + 1.34sINFOobjective_server_nodetype: 0 ×6 + 1.34sINFOobjective_server_nodename: "" ×6 + 1.34sINFOobjective_server_nodeinstance_id: "" ×6 + 1.34sINFOobjective_server_node ×6 + 1.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region and Record Coverage | select_region_and_record_coverage.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.34sINFOobjective_server_nodecaller: ×6 + 1.34sINFOobjective_server_nodetype: 0 ×6 + 1.34sINFOobjective_server_nodename: "" ×6 + 1.34sINFOobjective_server_nodeinstance_id: "" ×6 + 1.34sINFOobjective_server_node ×6 + 1.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.262419 ms (missed cycles : 7).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_server_nodeObjective `Record Surface Coverage Demo` succeeded at time: 1790365427.00370526 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247968 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.34sINFOobjective_server_nodecaller: ×6 + 1.34sINFOobjective_server_nodetype: 0 ×6 + 1.34sINFOobjective_server_nodename: "" ×6 + 1.34sINFOobjective_server_nodeinstance_id: "" ×6 + 1.34sINFOobjective_server_node ×6 + 1.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1790365427.64859772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1790365427.77871823 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1790365428.37728882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_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 + 2.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1790365428.39958715 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923612 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 2.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1790365429.12054849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-25 19:43:49.244] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512924 ms (missed cycles : 2).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747308 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242389 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_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 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 2.41sERRORobjective_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: 1790365439.45514297 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.95sINFOobjective_server_nodecaller: ×8 + 2.95sINFOobjective_server_nodetype: 0 ×8 + 2.95sINFOobjective_server_nodename: "" ×8 + 2.95sINFOobjective_server_nodeinstance_id: "" ×8 + 2.95sINFOobjective_server_node ×8 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.12sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.14sINFOobjective_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 + 4.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 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 · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826267 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548159 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275931 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_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 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-09-25 19:43:59.450] [info] Canceling active goal... ×2 + 2.41sERRORobjective_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: 1790365439.45514297 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.95sINFOobjective_server_nodecaller: ×8 + 2.95sINFOobjective_server_nodetype: 0 ×8 + 2.95sINFOobjective_server_nodename: "" ×8 + 2.95sINFOobjective_server_nodeinstance_id: "" ×8 + 2.95sINFOobjective_server_node ×8 + 3.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1790365440.06210494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609428 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1790365440.58561683 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.12sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1790365441.18370438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.14sINFOobjective_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 + 4.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1790365441.18555474 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862752 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1790365441.91288185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1790365441.94377255 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126039 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1790365442.54431629 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.6s | 39 warnings · 757 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/2026-09-25-19-38-46-702203-d9c17c5d375b-7272 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622800 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7320] ×2 + 0.85sINFOmove_group-9process started with pid [7371] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7372] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7373] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7374] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7375] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7376] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7377] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7378] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7379] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7380] ×2 + 0.85sINFOweb_bridge-19process started with pid [7381] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7451] ×2 + 0.86sINFOvideo_server-21process started with pid [7453] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7454] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7455] ×2 + 0.86sINFOros2-2process started with pid [7321] ×2 + 0.86sINFOros2-3process started with pid [7322] ×2 + 0.86sINFOros2-4process started with pid [7323] ×2 + 0.86sINFOros2-5process started with pid [7324] ×2 + 0.86sINFOros2-6process started with pid [7325] ×2 + 0.86sINFOros2-7process started with pid [7326] ×2 + 0.86sINFOros2-8process started with pid [7327] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622800 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF configuration loaded from /tmp/moveit-webrtc-rdiseikb/mediamtx.yml ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.42sINFOweb_video_auth_proxy2026-09-25 19:38:48,495 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.44sINFOweb_video_auth_proxy2026-09-25 19:38:48,509 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.44sINFOweb_bridge_auth_proxy2026-09-25 19:38:48,514 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.46sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.75sINFOmove_group[2026-09-25 19:38:48.819] [moveit_pro_license] [info] ×2 + 1.75sINFOmove_group************************************************* ×4 + 1.75sINFOmove_group* MoveIt Pro License ×2 + 1.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.00sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.02sINFOros2_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 + 2.02sINFOros2_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 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506328 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506328 ms (missed cycles : 2).[0m ×2 + 2.10sINFOwaypoint_manager_node[2026-09-25 19:38:49.171] [moveit_pro_license] [info] ×2 + 2.10sINFOwaypoint_manager_node************************************************* ×4 + 2.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.15sINFOmove_group ×4 + 2.15sINFOmove_group[92mYou can start planning now![0m ×2 + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOobjective_server_node[2026-09-25 19:38:50.311] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.83sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.83sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.06sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.06sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.07sWARNros2_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 + 4.07sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.07sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.07sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.07sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.07sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.07sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.07sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.07sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.07sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.07sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.07sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.07sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.07sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.07sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.07sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.07sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.07sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.07sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.07sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.07sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.13sINFOcomponent_container_mt[2026-09-25 19:38:51.204] [moveit_pro_license] [info] ×2 + 4.13sINFOcomponent_container_mt************************************************* ×4 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.19sWARNobjective_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 + 4.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 4.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 4.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.37sINFOros2_control_node[2026-09-25 19:38:51.438] [info] Controller state will be published at 10 Hz. ×2 + 4.37sINFOros2_control_node[2026-09-25 19:38:51.439] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.56sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.56sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.56sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762602 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762602 ms (missed cycles : 2).[0m ×2 + 4.64sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.64sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.64sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.64sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.64sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 4.64sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 4.65sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.67sINFOros2-7process has finished cleanly [pid 7326] ×2 + 4.67sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.67sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.68sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.68sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.68sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.68sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.68sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.69sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.69sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.98sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.98sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.98sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.98sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 4.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 5.02sINFOros2-3process has finished cleanly [pid 7322] ×2 + 5.02sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 5.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 5.37sINFOros2-4process has finished cleanly [pid 7323] ×2 + 5.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 5.80sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.80sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.80sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.82sINFOros2-5process has finished cleanly [pid 7324] ×2 + 5.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 5.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 5.91sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.91sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.91sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.91sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.91sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.91sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.93sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.93sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 5.94sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.16sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.16sINFOobjective_server_nodecaller: ×10 + 6.16sINFOobjective_server_nodetype: 0 ×10 + 6.16sINFOobjective_server_nodename: "" ×10 + 6.16sINFOobjective_server_nodeinstance_id: "" ×10 + 6.16sINFOobjective_server_node ×10 + 6.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 6.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 6.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 6.29sINFOros2-6process has finished cleanly [pid 7325] ×2 + 6.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.32sINFOforce_torque_sensor_broadcasterconfigure successful + 6.32sINFOros2_control_nodeconfigure successful[0m ×2 + 6.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.65sINFOros2-2process has finished cleanly [pid 7321] ×2 + 6.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 6.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 6.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.75sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 6.75sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.10sINFOros2-8process has finished cleanly [pid 7327] ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 8.02sWARNros2_control_nodeCamera render tick took 1.86 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 + 8.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.31sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 9.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.15sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 9.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.80sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 10.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.9s | 25 warnings · 430 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.07sINFOros2-6process has finished cleanly [pid 7325] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOforce_torque_sensor_broadcasterconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2-2process has finished cleanly [pid 7321] ×2 + 0.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.87sINFOros2-8process has finished cleanly [pid 7327] ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 1.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 5.27sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 7.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.79sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 496 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.40sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.40sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.43sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.44sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.79sINFOros2-6process has finished cleanly [pid 7325] ×2 + 0.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.15sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.25sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sINFOros2-8process has finished cleanly [pid 7327] ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 2.52sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 5.99sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 566 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 7322] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7323] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 1.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.32sINFOros2-6process has finished cleanly [pid 7325] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.34sINFOforce_torque_sensor_broadcasterconfigure successful + 1.34sINFOros2_control_nodeconfigure successful[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.68sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOros2-8process has finished cleanly [pid 7327] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 3.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 (2.2286e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 191 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/2026-09-25-19-38-46-702203-d9c17c5d375b-7272 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622800 ms (missed cycles : 3). + 0.85sINFOros2_control_node-1process started with pid [7320] ×2 + 0.85sINFOmove_group-9process started with pid [7371] ×2 + 0.85sINFOparameter_manager_node-10process started with pid [7372] ×2 + 0.85sINFOwaypoint_manager_node-11process started with pid [7373] ×2 + 0.85sINFOmove_joint_resampler_node-12process started with pid [7374] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7375] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7376] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7377] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7378] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7379] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7380] ×2 + 0.85sINFOweb_bridge-19process started with pid [7381] ×2 + 0.86sINFOtf2_web_republisher_node-20process started with pid [7451] ×2 + 0.86sINFOvideo_server-21process started with pid [7453] ×2 + 0.86sINFOweb_bridge_auth_proxy-22process started with pid [7454] ×2 + 0.86sINFOweb_video_auth_proxy-23process started with pid [7455] ×2 + 0.86sINFOros2-2process started with pid [7321] ×2 + 0.86sINFOros2-3process started with pid [7322] ×2 + 0.86sINFOros2-4process started with pid [7323] ×2 + 0.86sINFOros2-5process started with pid [7324] ×2 + 0.86sINFOros2-6process started with pid [7325] ×2 + 0.86sINFOros2-7process started with pid [7326] ×2 + 0.86sINFOros2-8process started with pid [7327] ×2 + 0.87sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.87sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.87sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.87sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.87sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.87sWARNros2_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 + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622800 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerReceived robot description from topic. + 0.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.92sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.92sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.95sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.95sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.10sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF configuration loaded from /tmp/moveit-webrtc-rdiseikb/mediamtx.yml ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.33sINFOvideo_server2026/09/25 19:38:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.42sINFOweb_video_auth_proxy2026-09-25 19:38:48,495 INFO moveit_studio_utils_py.tls: Generated MoveIt Pro self-signed TLS certificate at /github/home/.local/share/moveit_pro/tls/cert.pem ×2 + 1.44sINFOweb_video_auth_proxy2026-09-25 19:38:48,509 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3202 -> 127.0.0.1:13202 ×2 + 1.44sINFOweb_bridge_auth_proxy2026-09-25 19:38:48,514 INFO auth_proxy: TLS auth proxy on 0.0.0.0:3201 -> 127.0.0.1:13201 ×2 + 1.46sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.75sINFOmove_group[2026-09-25 19:38:48.819] [moveit_pro_license] [info] ×2 + 1.75sINFOmove_group************************************************* ×4 + 1.75sINFOmove_group* MoveIt Pro License ×2 + 1.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.00sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.00sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.02sINFOros2_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 + 2.02sINFOros2_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 + 2.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506328 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506328 ms (missed cycles : 2).[0m ×2 + 2.10sINFOwaypoint_manager_node[2026-09-25 19:38:49.171] [moveit_pro_license] [info] ×2 + 2.10sINFOwaypoint_manager_node************************************************* ×4 + 2.10sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.10sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.15sINFOmove_group ×4 + 2.15sINFOmove_group[92mYou can start planning now![0m ×2 + 2.20sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.24sINFOobjective_server_node[2026-09-25 19:38:50.311] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 566 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 7322] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7323] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 1.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.32sINFOros2-6process has finished cleanly [pid 7325] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.34sINFOforce_torque_sensor_broadcasterconfigure successful + 1.34sINFOros2_control_nodeconfigure successful[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.68sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOros2-8process has finished cleanly [pid 7327] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 3.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 (2.2286e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 566 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.04sINFOros2-3process has finished cleanly [pid 7322] ×2 + 0.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7323] ×2 + 0.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.89sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.93sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 1.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.30sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.32sINFOros2-6process has finished cleanly [pid 7325] ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.34sINFOforce_torque_sensor_broadcasterconfigure successful + 1.34sINFOros2_control_nodeconfigure successful[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.34sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.34sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.34sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.68sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.78sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.12sINFOros2-8process has finished cleanly [pid 7327] ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 3.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 5.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_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 (2.2286e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 496 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097601 ms (missed cycles : 2).[0m ×2 + 0.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.30sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.32sINFOros2-5process has finished cleanly [pid 7324] ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.40sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.40sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.40sINFOros2_control_node[2026-09-25 19:38:52.978] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_node[2026-09-25 19:38:53.005] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.43sINFOros2_control_node[2026-09-25 19:38:53.005] [info] Controller state will be published at 50 Hz. ×2 + 0.44sINFOros2_control_node[2026-09-25 19:38:53.009] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.79sINFOros2-6process has finished cleanly [pid 7325] ×2 + 0.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.15sINFOros2-2process has finished cleanly [pid 7321] ×2 + 1.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 1.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 1.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.25sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 1.25sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sINFOros2-8process has finished cleanly [pid 7327] ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 2.52sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 5.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.85sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 5.99sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 416 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1790365133.29370737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1790365133.30391526 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.07sINFOros2-6process has finished cleanly [pid 7325] ×2 + 0.09sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOforce_torque_sensor_broadcasterconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.10sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.10sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.10sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2-2process has finished cleanly [pid 7321] ×2 + 0.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq + 0.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__urlcfl5 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9bz46kbo --params-file /tmp/launch_params_0q2p_uvq [0m ×2 + 0.51sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.53sINFOros2_control_node[2026-09-25 19:38:53.824] [info] Controller state will be published at 20 Hz. ×2 + 0.53sINFOros2_control_node[2026-09-25 19:38:53.825] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1790365133.90883589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.87sINFOros2-8process has finished cleanly [pid 7327] ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 1.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 5.27sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 324 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 + 6.99sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception9 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_camera_intrinsics.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 7327] ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288801 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1790365134.81898379 seconds ×3 + 0.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.92sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.21sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.21sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.21sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.21sINFOobjective_server_nodecaller: ×10 + 1.21sINFOobjective_server_nodetype: 0 ×10 + 1.21sINFOobjective_server_nodename: "" ×10 + 1.21sINFOobjective_server_nodeinstance_id: "" ×10 + 1.21sINFOobjective_server_node ×10 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099016 ms (missed cycles : 2).[0m ×2 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1790365135.43480301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1790365135.49495625 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1790365136.20208168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1790365136.22220325 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504575 ms (missed cycles : 3).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1790365136.93606830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1790365137.08664680 seconds ×3 + 3.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740487 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1790365137.75118041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1790365137.80130053 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1790365138.42204022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.2286e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034502 ms (missed cycles : 3).[0m ×2 + 4.39sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-25 19:38:58.563] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202402 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125542 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.89sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 6.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-09-25 19:39:01.079] [info] Accepted new action goal ×2 | ||||