129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 160 warnings · 19212 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2).[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789638867.69176531 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_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 + 3.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789638868.29583549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.66sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373119 ms (missed cycles : 3). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373119 ms (missed cycles : 3).[0m ×2 + 7.15sINFOjoint_trajectory_controllerReceived new action goal ×3158 + 7.15sINFOjoint_trajectory_controllerAccepted new action goal ×3158 + 7.15sINFOros2_control_nodeReceived new action goal[0m ×6316 + 7.15sINFOros2_control_nodeAccepted new action goal[0m ×6316 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309691 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309691 ms (missed cycles : 2).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927780 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927780 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903764 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903764 ms (missed cycles : 2).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050711 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050711 ms (missed cycles : 2).[0m ×2 + 11.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 12.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.01sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.01sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130995 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130995 ms (missed cycles : 2).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674733 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674733 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160309 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160309 ms (missed cycles : 4).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136185 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136185 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387402 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387402 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328961 ms (missed cycles : 2). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328961 ms (missed cycles : 2).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509485 ms (missed cycles : 3). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509485 ms (missed cycles : 3).[0m ×2 + 19.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942236 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942236 ms (missed cycles : 2).[0m ×2 + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362048 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362048 ms (missed cycles : 2).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944774 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944774 ms (missed cycles : 2).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873657 ms (missed cycles : 3). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873657 ms (missed cycles : 3).[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684439 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684439 ms (missed cycles : 2).[0m ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139517 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139517 ms (missed cycles : 2).[0m ×2 + 26.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678829 ms (missed cycles : 2). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678829 ms (missed cycles : 2).[0m ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849780 ms (missed cycles : 2). + 27.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849780 ms (missed cycles : 2).[0m ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920539 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920539 ms (missed cycles : 3).[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713867 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713867 ms (missed cycles : 2).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683101 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683101 ms (missed cycles : 2).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966575 ms (missed cycles : 4). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966575 ms (missed cycles : 4).[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972029 ms (missed cycles : 3). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972029 ms (missed cycles : 3).[0m ×2 + 33.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587281 ms (missed cycles : 2). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587281 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728695 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728695 ms (missed cycles : 2).[0m ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711361 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711361 ms (missed cycles : 2).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750741 ms (missed cycles : 2). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750741 ms (missed cycles : 2).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077136 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077136 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870765 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870765 ms (missed cycles : 2).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476004 ms (missed cycles : 4). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476004 ms (missed cycles : 4).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671586 ms (missed cycles : 2). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671586 ms (missed cycles : 2).[0m ×2 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014315 ms (missed cycles : 2). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014315 ms (missed cycles : 2).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942738 ms (missed cycles : 2). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942738 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829387 ms (missed cycles : 5). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829387 ms (missed cycles : 5).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092919 ms (missed cycles : 4). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092919 ms (missed cycles : 4).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792155 ms (missed cycles : 2). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792155 ms (missed cycles : 2).[0m ×2 + 47.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 47.23sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278029 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278029 ms (missed cycles : 2).[0m ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638912.19106126 seconds ×3 + 47.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.93sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789638912.86474228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.23sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 48.24sINFOros2_control_node[2026-09-17 09:55:13.048] [info] Received new action goal ×2 + 48.24sINFOros2_control_node[2026-09-17 09:55:13.048] [info] Accepted new action goal ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637732 ms (missed cycles : 4). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637732 ms (missed cycles : 4).[0m ×2 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710742 ms (missed cycles : 5). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710742 ms (missed cycles : 5).[0m ×2 + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788238 ms (missed cycles : 2). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788238 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 156 warnings · 342 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.13sINFOros2_control_node[2026-09-17 09:53:36.972] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-09-17 09:53:36.972] [info] Accepted new action goal ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.948671 ms (missed cycles : 6). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.948671 ms (missed cycles : 6).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364754 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364754 ms (missed cycles : 2).[0m ×2 + 10.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.31sINFOros2_control_node[2026-09-17 09:53:40.151] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-09-17 09:53:40.151] [info] Accepted new action goal ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834779 ms (missed cycles : 4). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834779 ms (missed cycles : 4).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753475 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753475 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877466 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877466 ms (missed cycles : 3).[0m ×2 + 12.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 13.28sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 13.29sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.34sINFOros2_control_node[2026-09-17 09:53:43.184] [info] Received new action goal ×2 + 13.34sINFOros2_control_node[2026-09-17 09:53:43.184] [info] Accepted new action goal ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007713 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007713 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863111 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863111 ms (missed cycles : 3).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319620 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319620 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990987 ms (missed cycles : 5). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.990987 ms (missed cycles : 5).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836001 ms (missed cycles : 6). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.836001 ms (missed cycles : 6).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954580 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954580 ms (missed cycles : 2).[0m ×2 + 18.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759098 ms (missed cycles : 5). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759098 ms (missed cycles : 5).[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238776 ms (missed cycles : 3). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238776 ms (missed cycles : 3).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573436 ms (missed cycles : 5). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573436 ms (missed cycles : 5).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026418 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026418 ms (missed cycles : 2).[0m ×2 + 23.89sINFOobjective_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 + 23.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.89sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.89sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585922 ms (missed cycles : 5). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585922 ms (missed cycles : 5).[0m ×2 + 24.80sINFOros2_control_node[2026-09-17 09:53:54.646] [info] Received new action goal ×2 + 24.80sINFOros2_control_node[2026-09-17 09:53:54.646] [info] Accepted new action goal ×2 + 25.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579570 ms (missed cycles : 3). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.579570 ms (missed cycles : 3).[0m ×2 + 25.99sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.00sINFOobjective_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 + 26.28sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 26.34sINFOros2_control_node[2026-09-17 09:53:56.179] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-17 09:53:56.179] [info] Accepted new action goal ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185803 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185803 ms (missed cycles : 2).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995395 ms (missed cycles : 2). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995395 ms (missed cycles : 2).[0m ×2 + 28.63sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 28.63sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.65sINFOros2_control_node[2026-09-17 09:53:58.487] [info] Received new action goal ×2 + 28.65sINFOros2_control_node[2026-09-17 09:53:58.487] [info] Accepted new action goal ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853515 ms (missed cycles : 2). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853515 ms (missed cycles : 2).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141970 ms (missed cycles : 2). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141970 ms (missed cycles : 2).[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637109 ms (missed cycles : 4). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637109 ms (missed cycles : 4).[0m ×2 + 31.65sINFOros2_control_node[2026-09-17 09:54:01.487] [info] Received new action goal ×2 + 31.65sINFOros2_control_node[2026-09-17 09:54:01.487] [info] Accepted new action goal ×2 + 32.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313068 ms (missed cycles : 4). + 32.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.313068 ms (missed cycles : 4).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631024 ms (missed cycles : 4). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.631024 ms (missed cycles : 4).[0m ×2 + 34.24sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 34.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.29sINFOros2_control_node[2026-09-17 09:54:04.130] [info] Received new action goal ×2 + 34.29sINFOros2_control_node[2026-09-17 09:54:04.130] [info] Accepted new action goal ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576807 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576807 ms (missed cycles : 3).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818954 ms (missed cycles : 3). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818954 ms (missed cycles : 3).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848448 ms (missed cycles : 3). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.848448 ms (missed cycles : 3).[0m ×2 + 37.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059710 ms (missed cycles : 5). + 37.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059710 ms (missed cycles : 5).[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975830 ms (missed cycles : 6). + 38.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.975830 ms (missed cycles : 6).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172251 ms (missed cycles : 5). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172251 ms (missed cycles : 5).[0m ×2 + 41.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063493 ms (missed cycles : 4). + 41.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063493 ms (missed cycles : 4).[0m ×2 + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120027 ms (missed cycles : 2). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120027 ms (missed cycles : 2).[0m ×2 + 42.19sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004092 ms (missed cycles : 2). + 43.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004092 ms (missed cycles : 2).[0m ×2 + 43.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972515 ms (missed cycles : 3). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972515 ms (missed cycles : 3).[0m ×2 + 45.11sINFOros2_control_node[2026-09-17 09:54:14.957] [info] Received new action goal ×2 + 45.11sINFOros2_control_node[2026-09-17 09:54:14.957] [info] Accepted new action goal ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693596 ms (missed cycles : 3). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693596 ms (missed cycles : 3).[0m ×2 + 46.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789638856.11518574 seconds ×3 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122303 ms (missed cycles : 2). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122303 ms (missed cycles : 2).[0m ×2 + 46.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.87sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.07sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789638856.90998650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443978 ms (missed cycles : 2). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443978 ms (missed cycles : 2).[0m ×2 + 48.09sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.12sINFOros2_control_node[2026-09-17 09:54:17.964] [info] Received new action goal ×2 + 48.12sINFOros2_control_node[2026-09-17 09:54:17.964] [info] Accepted new action goal ×2 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317893 ms (missed cycles : 2). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317893 ms (missed cycles : 2).[0m ×2 + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837411 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837411 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 13284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2181 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2181 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4362 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4362 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829387 ms (missed cycles : 5). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829387 ms (missed cycles : 5).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092919 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092919 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792155 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792155 ms (missed cycles : 2).[0m ×2 + 3.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278029 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278029 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638912.19106126 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789638912.86474228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.13sINFOros2_control_node[2026-09-17 09:55:13.048] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-17 09:55:13.048] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637732 ms (missed cycles : 4). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637732 ms (missed cycles : 4).[0m ×2 + 5.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.43sINFOobjective_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 + 5.45sINFOobjective_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 + 5.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710742 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.710742 ms (missed cycles : 5).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788238 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788238 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593193 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593193 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620526 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620526 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229176 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229176 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237149 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237149 ms (missed cycles : 2).[0m ×2 + 10.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616896 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616896 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944206 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944206 ms (missed cycles : 2).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949774 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949774 ms (missed cycles : 2).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321628 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321628 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769718 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769718 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333081 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333081 ms (missed cycles : 2).[0m ×2 + 17.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515000 ms (missed cycles : 4). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515000 ms (missed cycles : 4).[0m ×2 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019385 ms (missed cycles : 2). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019385 ms (missed cycles : 2).[0m ×2 + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724529 ms (missed cycles : 2). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724529 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834285 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834285 ms (missed cycles : 3).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 23.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 23.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 24.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 25.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 26.07sINFOobjective_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: ""
+ 26.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 26.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.37sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00430535 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.56sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Accepted new action goal ×2 + 0.99sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3).[0m ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_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 + 3.21sERRORobjective_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: 1789638796.65157580 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.75sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.75sINFOobjective_server_nodecaller: ×6 + 3.75sINFOobjective_server_nodetype: 0 ×6 + 3.75sINFOobjective_server_nodename: "" ×6 + 3.75sINFOobjective_server_nodeinstance_id: "" ×6 + 3.75sINFOobjective_server_node ×6 + 3.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789638797.31356597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Accepted new action goal ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837369 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837369 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331418 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331418 ms (missed cycles : 4).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108493 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108493 ms (missed cycles : 2).[0m ×2 + 10.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801057 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801057 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2).[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5).[0m ×2 + 15.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789638808.57543564 seconds ×3 + 15.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.76sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789638809.24613738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.85sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.86sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789638809.30628467 seconds ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5).[0m ×2 + 16.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.41sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.46sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.59sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 16.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.61sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 16.61sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 18.62sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 61 errors · 42 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789638990.55500746 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.21sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638995.36352468 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789218 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789218 ms (missed cycles : 2).[0m ×2 + 6.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219176 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219176 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584840 ms (missed cycles : 5). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.584840 ms (missed cycles : 5).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166594 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166594 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788674 ms (missed cycles : 4). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788674 ms (missed cycles : 4).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041941 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.041941 ms (missed cycles : 5).[0m ×2 + 10.97sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.98sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORweb_video_auth_proxy-23process has died [pid 7354, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.98sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.98sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORweb_bridge_auth_proxy-22process has died [pid 7351, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.99sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.00sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.01sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.01sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.01sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.02sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.02sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.03sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.03sINFOvideo_server-21process has finished cleanly [pid 7348] ×2 + 11.03sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.04sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.04sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.05sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.05sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.06sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.06sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.06sINFOcontroller_managerShutdown request received.... + 11.06sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.06sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.06sINFOvideo_server2026/09/17 09:56:41 INF shutting down gracefully ×2 + 11.06sINFOvideo_server2026/09/17 09:56:41 INF [WebRTC] closing ×2 + 11.06sINFOvideo_server2026/09/17 09:56:41 INF [RTSP] closing ×2 + 11.06sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.06sINFOvideo_server2026/09/17 09:56:41 INF waiting for running hooks ×2 + 11.06sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.06sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.06sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.06sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.06sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.06sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.06sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.06sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.06sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.07sINFOcontroller_managerShutting down the controller manager. + 11.07sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.07sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.07sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.07sERRORmove_groupStack trace (most recent call last) in thread 7708: ×2 + 11.07sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.07sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feeb0576a63, in __clone ×2 + 11.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feeb04e9aa3, in ×2 + 11.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feeb077bdb3, in ×2 + 11.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7feeb0edfb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feeb0b0d620, in rclcpp::Rate::sleep() ×2 + 11.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feeb0a4fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7feeb0a11087, in ×2 + 11.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feeb074a390, in __cxa_throw ×2 + 11.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feeb0734a54, in std::terminate() ×2 + 11.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feeb074a0d9, in ×2 + 11.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7feeb0734ff4, in ×2 + 11.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feeb04758fe, in abort ×2 + 11.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feeb049227d, in raise ×2 + 11.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7feeb04ebb2c, in pthread_kill ×2 + 11.07sERRORmove_groupAborted (Signal sent by tkill() 7272 0) ×2 + 11.09sERRORmove_group-9process has died [pid 7272, 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_2r1ml260 --params-file /tmp/launch_params_2hcflct_ --params-file /tmp/launch_params_im9wvn2e --params-file /tmp/launch_params_kh3mjwxa --params-file /tmp/launch_params_fe3v7pfs --params-file /tmp/launch_params_j6d63ceq']. ×2 + 11.27sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.27sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 12.05sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7346] ×2 + 12.05sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.09sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7275] ×2 + 12.09sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7276] ×2 + 12.12sINFOui_teleop_bridge-18process has finished cleanly [pid 7281] ×2 + 12.12sINFOexecute_objective_bridge-17process has finished cleanly [pid 7280] ×2 + 12.13sINFOwaypoint_manager_node-11process has finished cleanly [pid 7274] ×2 + 12.13sINFOparameter_manager_node-10process has finished cleanly [pid 7273] ×2 + 12.19sINFOcomponent_container_mt-16process has finished cleanly [pid 7279] ×2 + 12.20sINFOobjective_server_node[0;m[2026-09-17 09:56:42.742] [moveit_pro_license] [critical] ×2 + 12.20sINFOobjective_server_node************************************************* ×4 + 12.20sINFOobjective_server_node* MoveIt Pro License ×2 + 12.20sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.34sINFOobjective_server_node_main-14process has finished cleanly [pid 7277] ×2 + 12.34sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.22sINFOcomponent_container_mt-15process has finished cleanly [pid 7278] ×2 + 13.42sINFOweb_bridge-19process has finished cleanly [pid 7282] ×2 + 13.42sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.72sINFOros2_control_node-1process has finished cleanly [pid 7221] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 59 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004092 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004092 ms (missed cycles : 2).[0m ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972515 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972515 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_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 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.05sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-09-17 09:54:14.957] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-09-17 09:54:14.957] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693596 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693596 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789638856.11518574 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122303 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122303 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789638856.90998650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443978 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443978 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.00sINFOros2_control_node[2026-09-17 09:54:17.964] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-17 09:54:17.964] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317893 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317893 ms (missed cycles : 2).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837411 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837411 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265911 ms (missed cycles : 5). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265911 ms (missed cycles : 5).[0m ×2 + 8.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.69sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.69sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.70sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.70sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273861 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273861 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951568 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951568 ms (missed cycles : 2).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853950 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853950 ms (missed cycles : 2).[0m ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.12sINFOros2_control_node[2026-09-17 09:54:24.086] [info] Received new action goal ×2 + 11.12sINFOros2_control_node[2026-09-17 09:54:24.086] [info] Accepted new action goal ×2 + 11.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789638867.69176531 seconds ×3 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.26sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789638868.29583549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.50sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Received new action goal ×2 + 15.50sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.2s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549794 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549794 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108166 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108166 ms (missed cycles : 3).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 1.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.34sINFOros2_control_node[2026-09-17 09:52:19.326] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-17 09:52:19.326] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486566 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486566 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.07sINFOros2_control_node[2026-09-17 09:52:20.052] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-09-17 09:52:20.052] [info] Canceling active goal... ×2 + 2.08sERRORobjective_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: 1789638740.06865811 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.62sINFOobjective_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: ""
+ 2.62sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.62sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.62sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.62sINFOobjective_server_nodecaller: ×6 + 2.62sINFOobjective_server_nodetype: 0 ×6 + 2.62sINFOobjective_server_nodename: "" ×6 + 2.62sINFOobjective_server_nodeinstance_id: "" ×6 + 2.62sINFOobjective_server_node ×6 + 2.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789638740.68371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.92sINFOros2_control_node[2026-09-17 09:52:20.907] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-09-17 09:52:20.907] [info] Accepted new action goal ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650433 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650433 ms (missed cycles : 2).[0m ×2 + 3.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392218 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392218 ms (missed cycles : 5).[0m ×2 + 5.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420682 ms (missed cycles : 4). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420682 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.20sINFOros2_control_node[2026-09-17 09:52:23.188] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-09-17 09:52:23.188] [info] Accepted new action goal ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833744 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833744 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683571 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683571 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099243 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099243 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772424 ms (missed cycles : 5). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772424 ms (missed cycles : 5).[0m ×2 + 9.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960921 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960921 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 13.28sERRORobjective_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: 1789638751.26141143 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 14.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.88sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 57 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.52sERRORobjective_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: 1789638978.05121756 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.09sINFOobjective_server_nodecaller: ×14 + 2.09sINFOobjective_server_nodetype: 0 ×14 + 2.09sINFOobjective_server_nodename: "" ×14 + 2.09sINFOobjective_server_nodeinstance_id: "" ×14 + 2.09sINFOobjective_server_node ×14 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_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 + 2.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825379 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825379 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.96sINFOros2_control_node[2026-09-17 09:56:23.489] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-09-17 09:56:23.489] [info] Accepted new action goal ×2 + 6.96sINFOros2_control_node[2026-09-17 09:56:23.490] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762713 ms (missed cycles : 5). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.762713 ms (missed cycles : 5).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728487 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728487 ms (missed cycles : 3).[0m ×2 + 9.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167539 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167539 ms (missed cycles : 2).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[0m ×2 + 14.02sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 14.03sERRORobjective_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: 1789638990.55500746 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 14.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sWARNros2_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 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 15.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 16.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.17sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 16.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 17.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.45sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2218 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835272 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835272 ms (missed cycles : 2).[0m ×2 + 7.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681672 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681672 ms (missed cycles : 3).[0m ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 1 iterations (0.00369246 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.13sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.15sINFOros2_control_node[2026-09-17 09:55:40.244] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-09-17 09:55:40.244] [info] Accepted new action goal ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228506 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228506 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001598 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001598 ms (missed cycles : 2).[0m ×2 + 11.45sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 11.45sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 13.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.07sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 13.07sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 14.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.17sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 15.31sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 17.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.68sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 6.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.411461 ms (missed cycles : 6). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.411461 ms (missed cycles : 6).[0m ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.14sINFOobjective_server_nodeFound path in 5 iterations (0.00587669 s). ×2 + 7.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (1.88e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.84sINFOros2_control_node[2026-09-17 09:53:00.118] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-09-17 09:53:00.118] [info] Accepted new action goal ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457467 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457467 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826872 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826872 ms (missed cycles : 2).[0m ×2 + 10.10sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789638782.67374849 seconds ×3 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741323 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741323 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607293 ms (missed cycles : 4). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607293 ms (missed cycles : 4).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.607588 ms (missed cycles : 7). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.607588 ms (missed cycles : 7).[0m ×2 + 12.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162620 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162620 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.90sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.99sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789638786.26921105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 14.23sINFOros2_control_node[2026-09-17 09:53:06.503] [info] Received new action goal ×2 + 14.23sINFOros2_control_node[2026-09-17 09:53:06.503] [info] Accepted new action goal ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241492 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241492 ms (missed cycles : 3).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895519 ms (missed cycles : 4). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895519 ms (missed cycles : 4).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635558 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635558 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1789638751.26141143 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.08sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.08sINFOobjective_server_nodecaller: ×8 + 2.08sINFOobjective_server_nodetype: 0 ×8 + 2.08sINFOobjective_server_nodename: "" ×8 + 2.08sINFOobjective_server_nodeinstance_id: "" ×8 + 2.08sINFOobjective_server_node ×8 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580490 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580490 ms (missed cycles : 2).[0m ×2 + 7.31sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901028 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901028 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 1 iterations (0.00350314 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.99sINFOros2_control_node[2026-09-17 09:52:37.775] [info] Received new action goal ×2 + 7.99sINFOros2_control_node[2026-09-17 09:52:37.775] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410097 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410097 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829586 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829586 ms (missed cycles : 3).[0m ×2 + 10.29sINFOros2_control_node[2026-09-17 09:52:40.078] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-17 09:52:40.078] [info] Accepted new action goal ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788470 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788470 ms (missed cycles : 2).[0m ×2 + 10.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 11.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.95sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 13.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 13.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.79sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 13.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.62sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 14.73sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.74sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 16.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 203 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: 1789638782.67374849 seconds ×3 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741323 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741323 ms (missed cycles : 3).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607293 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.607293 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.607588 ms (missed cycles : 7). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.607588 ms (missed cycles : 7).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162620 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162620 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789638786.26921105 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×4 + 3.85sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.87sINFOros2_control_node[2026-09-17 09:53:06.503] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-17 09:53:06.503] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241492 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241492 ms (missed cycles : 3).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895519 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895519 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635558 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635558 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.58sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813586 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813586 ms (missed cycles : 3).[0m ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 5 iterations (0.00517448 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (1.07e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.42sINFOros2_control_node[2026-09-17 09:53:11.056] [info] Received new action goal ×2 + 8.42sINFOros2_control_node[2026-09-17 09:53:11.056] [info] Accepted new action goal ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868754 ms (missed cycles : 4). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.868754 ms (missed cycles : 4).[0m ×2 + 9.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.40sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749785 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749785 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4).[0m ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 10.96sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 11.12sINFOobjective_server_nodeFound path in 1 iterations (0.00430535 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.36sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Received new action goal ×2 + 11.36sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Accepted new action goal ×2 + 11.79sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Received new action goal ×2 + 11.79sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2).[0m ×2 + 14.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789638796.65157580 seconds ×3 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789638797.31356597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 14.86sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Accepted new action goal ×2 + 15.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2).[0m ×2 + 17.36sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Received new action goal ×2 + 17.37sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 59 warnings · 257 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789638967.04480839 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.97sINFOobjective_server_nodecaller: ×8 + 3.97sINFOobjective_server_nodetype: 0 ×8 + 3.97sINFOobjective_server_nodename: "" ×8 + 3.97sINFOobjective_server_nodeinstance_id: "" ×8 + 3.97sINFOobjective_server_node ×8 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789638967.70094204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_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 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177656 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177656 ms (missed cycles : 2).[0m ×2 + 8.37sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128282 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128282 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983485 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983485 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198305 ms (missed cycles : 4). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198305 ms (missed cycles : 4).[0m ×2 + 11.09sWARNros2_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 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 14.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sERRORobjective_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: 1789638978.05121756 seconds ×3 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 15.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 15.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 15.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.72sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.74sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 16.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.50sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 16.50sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 17.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.71sINFOobjective_server_nodecaller: ×12 + 0.71sINFOobjective_server_nodetype: 0 ×12 + 0.71sINFOobjective_server_nodename: "" ×12 + 0.71sINFOobjective_server_nodeinstance_id: "" ×12 + 0.71sINFOobjective_server_node ×12 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[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 (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409759 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409759 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765307 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765307 ms (missed cycles : 2).[0m ×2 + 9.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924307 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924307 ms (missed cycles : 2).[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.92sINFOros2_control_node[2026-09-17 09:52:15.986] [info] Received new action goal ×2 + 9.92sINFOros2_control_node[2026-09-17 09:52:15.986] [info] Accepted new action goal ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180652 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180652 ms (missed cycles : 4).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549794 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549794 ms (missed cycles : 2).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108166 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108166 ms (missed cycles : 3).[0m ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.26sINFOros2_control_node[2026-09-17 09:52:19.326] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-09-17 09:52:19.326] [info] Accepted new action goal ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486566 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486566 ms (missed cycles : 3).[0m ×2 + 13.98sINFOobjective_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 + 13.99sINFOros2_control_node[2026-09-17 09:52:20.052] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-09-17 09:52:20.052] [info] Canceling active goal... ×2 + 14.00sERRORobjective_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: 1789638740.06865811 seconds ×3 + 14.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.54sINFOobjective_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: ""
+ 14.54sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789638740.68371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.84sINFOros2_control_node[2026-09-17 09:52:20.907] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-09-17 09:52:20.907] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650433 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650433 ms (missed cycles : 2).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392218 ms (missed cycles : 5). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392218 ms (missed cycles : 5).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420682 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420682 ms (missed cycles : 4).[0m ×2 + 17.11sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 17.11sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.12sINFOros2_control_node[2026-09-17 09:52:23.188] [info] Received new action goal ×2 + 17.12sINFOros2_control_node[2026-09-17 09:52:23.188] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sWARNros2_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 ×6 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914699 ms (missed cycles : 4). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914699 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.586502 ms (missed cycles : 6). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.586502 ms (missed cycles : 6).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037066 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037066 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2).[0m ×2 + 14.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sERRORobjective_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: 1789638956.54744601 seconds ×3 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789638957.15797114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.91sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 7.23sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.24sINFOros2_control_node[2026-09-17 09:52:47.891] [info] Received new action goal ×2 + 7.24sINFOros2_control_node[2026-09-17 09:52:47.891] [info] Accepted new action goal ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892854 ms (missed cycles : 6). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892854 ms (missed cycles : 6).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260462 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260462 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268574 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268574 ms (missed cycles : 3).[0m ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.58sINFOros2_control_node[2026-09-17 09:52:50.228] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-09-17 09:52:50.228] [info] Accepted new action goal ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334695 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.334695 ms (missed cycles : 4).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 11.93sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 12.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 13.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 13.90sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 13.91sERRORobjective_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: 1789638774.56224918 seconds ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 14.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.74sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_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 + 3.41sERRORobjective_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: 1789638956.54744601 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.96sINFOobjective_server_nodecaller: ×4 + 3.96sINFOobjective_server_nodetype: 0 ×4 + 3.96sINFOobjective_server_nodename: "" ×4 + 3.96sINFOobjective_server_nodeinstance_id: "" ×4 + 3.96sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789638957.15797114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.32sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Accepted new action goal ×2 + 4.45sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030089 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030089 ms (missed cycles : 2).[0m ×2 + 8.33sINFOros2_control_node[2026-09-17 09:56:01.461] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-09-17 09:56:01.461] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831386 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831386 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080496 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080496 ms (missed cycles : 3).[0m ×2 + 10.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2).[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789638967.04480839 seconds ×3 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.57sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789638967.70094204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.70sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2).[0m ×2 + 16.56sWARNros2_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 + 16.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 37 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789638808.57543564 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.83sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.83sINFOobjective_server_nodecaller: ×6 + 2.83sINFOobjective_server_nodetype: 0 ×6 + 2.83sINFOobjective_server_nodename: "" ×6 + 2.83sINFOobjective_server_nodeinstance_id: "" ×6 + 2.83sINFOobjective_server_node ×6 + 2.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789638809.24613738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789638809.30628467 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5).[0m ×2 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.54sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.68sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 7.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.26sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 7.33sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.41sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.42sINFOobjective_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 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.74sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 7.74sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 10.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[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 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 2.85sERRORobjective_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: 1789638990.55500746 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.39sINFOobjective_server_nodecaller: ×8 + 3.39sINFOobjective_server_nodetype: 0 ×8 + 3.39sINFOobjective_server_nodename: "" ×8 + 3.39sINFOobjective_server_nodeinstance_id: "" ×8 + 3.39sINFOobjective_server_node ×8 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4).[0m ×2 + 7.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638995.36352468 seconds ×3 + 7.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 690 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.08sINFOcomponent_container_mt[2026-09-17 09:52:01.981] [moveit_pro_license] [info] ×2 + 0.08sINFOcomponent_container_mt************************************************* ×4 + 0.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.11sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.11sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.11sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.11sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.11sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.11sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.11sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.11sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.11sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.11sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.11sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.11sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.21sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.21sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.21sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.35sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.35sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.35sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.39sINFOros2_control_node[2026-09-17 09:52:02.285] [info] Controller state will be published at 20 Hz. ×2 + 0.39sINFOros2_control_node[2026-09-17 09:52:02.286] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955711 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955711 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.66sINFOros2-8process has finished cleanly [pid 7228] ×2 + 0.71sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.74sINFOros2_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 + 0.74sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.74sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.74sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.74sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.74sINFOros2_control_node[2026-09-17 09:52:02.642] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-09-17 09:52:02.642] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.77sINFOros2_control_node[2026-09-17 09:52:02.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.77sINFOros2_control_node[2026-09-17 09:52:02.666] [info] Controller state will be published at 50 Hz. ×2 + 0.77sINFOros2_control_node[2026-09-17 09:52:02.672] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.10sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.13sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.13sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sINFOros2-6process has finished cleanly [pid 7226] ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.14sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.14sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.15sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.15sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.49sINFOros2-4process has finished cleanly [pid 7224] ×2 + 1.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.51sINFOforce_torque_sensor_broadcasterconfigure successful + 1.51sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.52sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 1.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.81sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.81sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.81sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.81sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.81sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.82sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.82sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.83sINFOros2-2process has finished cleanly [pid 7222] ×2 + 1.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 2.21sINFOros2-3process has finished cleanly [pid 7223] ×2 + 2.23sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.25sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.25sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.55sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.59sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 2.59sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 2.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.65sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.74sINFOobjective_server_nodecaller: ×14 + 2.74sINFOobjective_server_nodetype: 0 ×14 + 2.74sINFOobjective_server_nodename: "" ×14 + 2.74sINFOobjective_server_nodeinstance_id: "" ×14 + 2.74sINFOobjective_server_node ×14 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 2.98sINFOros2-7process has finished cleanly [pid 7227] ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 4.42sWARNros2_control_nodeCamera render tick took 1.87 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 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 5.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 6.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 6.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 7.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.91sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 7.91sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789638808.57543564 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789638809.24613738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789638809.30628467 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.72sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:52:40.078] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:52:40.078] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788470 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788470 ms (missed cycles : 2).[0m ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.45sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sERRORobjective_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: 1789638978.05121756 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[0m ×2 + 0.73sINFOobjective_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 + 0.73sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 0.73sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 0.74sERRORobjective_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: 1789638990.55500746 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.28sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.28sINFOobjective_server_nodecaller: ×8 + 1.28sINFOobjective_server_nodetype: 0 ×8 + 1.28sINFOobjective_server_nodename: "" ×8 + 1.28sINFOobjective_server_nodeinstance_id: "" ×8 + 1.28sINFOobjective_server_node ×8 + 1.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sWARNros2_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 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.93sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 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 9.989715 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638995.36352468 seconds ×3 + 5.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789218 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789218 ms (missed cycles : 2).[0m ×2 + 7.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7224] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 0.16sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.76sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.09sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.28sINFOobjective_server_nodecaller: ×14 + 1.28sINFOobjective_server_nodetype: 0 ×14 + 1.28sINFOobjective_server_nodename: "" ×14 + 1.28sINFOobjective_server_nodeinstance_id: "" ×14 + 1.28sINFOobjective_server_node ×14 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 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 1.960921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960921 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_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: 1789638751.26141143 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 5.24sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sERRORobjective_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: 1789638978.05121756 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.09sINFOobjective_server_nodecaller: ×6 + 3.09sINFOobjective_server_nodetype: 0 ×6 + 3.09sINFOobjective_server_nodename: "" ×6 + 3.09sINFOobjective_server_nodeinstance_id: "" ×6 + 3.09sINFOobjective_server_node ×6 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.64sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 27 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[0m ×2 + 1.77sINFOobjective_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 + 1.77sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 1.77sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 1.78sERRORobjective_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: 1789638990.55500746 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 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 ×8 + 1.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNros2_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 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.98sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.98sINFOobjective_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 + 3.98sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.989715 ms (missed cycles : 6).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.493222 ms (missed cycles : 4).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789638995.36352468 seconds ×3 + 6.63sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789218 ms (missed cycles : 2). | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2108 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.1s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[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 1.960921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960921 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_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: 1789638751.26141143 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 5.24sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[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 1.960921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960921 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 2.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sERRORobjective_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: 1789638751.26141143 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 5.24sWARNros2_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 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1789638751.26141143 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.08sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.08sINFOobjective_server_nodecaller: ×4 + 2.08sINFOobjective_server_nodetype: 0 ×4 + 2.08sINFOobjective_server_nodename: "" ×4 + 2.08sINFOobjective_server_nodeinstance_id: "" ×4 + 2.08sINFOobjective_server_node ×4 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1789638751.26141143 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.08sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.08sINFOobjective_server_nodecaller: ×4 + 2.08sINFOobjective_server_nodetype: 0 ×4 + 2.08sINFOobjective_server_nodename: "" ×4 + 2.08sINFOobjective_server_nodeinstance_id: "" ×4 + 2.08sINFOobjective_server_node ×4 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1789638751.26141143 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.08sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.08sINFOobjective_server_nodecaller: ×4 + 2.08sINFOobjective_server_nodetype: 0 ×4 + 2.08sINFOobjective_server_nodename: "" ×4 + 2.08sINFOobjective_server_nodeinstance_id: "" ×4 + 2.08sINFOobjective_server_node ×4 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720365 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240383 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sERRORobjective_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: 1789638751.26141143 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.08sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.08sINFOobjective_server_nodecaller: ×4 + 2.08sINFOobjective_server_nodetype: 0 ×4 + 2.08sINFOobjective_server_nodename: "" ×4 + 2.08sINFOobjective_server_nodeinstance_id: "" ×4 + 2.08sINFOobjective_server_node ×4 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789638751.92403960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789638752.00417066 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407817 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789638752.66599631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.07sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 3.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-17 09:52:32.869] [info] Accepted new action goal ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373258 ms (missed cycles : 4).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130985 ms (missed cycles : 3).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560967 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779758 ms (missed cycles : 5).[0m ×2 + 1.08sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Received new action goal ×2 + 1.09sINFOros2_control_node[2026-09-17 09:52:41.740] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169984 ms (missed cycles : 5).[0m ×2 + 2.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789638763.03647733 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.92sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.92sINFOobjective_server_nodecaller: ×4 + 2.92sINFOobjective_server_nodetype: 0 ×4 + 2.92sINFOobjective_server_nodename: "" ×4 + 2.92sINFOobjective_server_nodeinstance_id: "" ×4 + 2.92sINFOobjective_server_node ×4 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.541838 ms (missed cycles : 4).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789638763.66475916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789638763.75487781 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789638764.40674376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 09:52:44.531] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.644081 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151422 ms (missed cycles : 5).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542325 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019347 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-09-17 09:52:52.581] [info] Accepted new action goal ×2 + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006295 ms (missed cycles : 4).[0m ×2 + 2.27sINFOobjective_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 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-17 09:52:54.547] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789638774.56224918 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007078 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789638775.20147920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-17 09:52:55.395] [info] Accepted new action goal ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377347 ms (missed cycles : 4).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937285 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319784 ms (missed cycles : 4).[0m ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 1 iterations (0.00430535 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-09-17 09:53:13.995] [info] Accepted new action goal ×2 + 0.99sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-17 09:53:14.427] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066105 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926462 ms (missed cycles : 3).[0m ×2 + 2.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071715 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_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 + 3.21sERRORobjective_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: 1789638796.65157580 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789638797.31356597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.06sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-09-17 09:53:17.497] [info] Accepted new action goal ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510193 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486837 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785949 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-17 09:53:20.003] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719920 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319767 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673513 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.059074 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789638808.57543564 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.87sINFOobjective_server_nodecaller: ×4 + 3.87sINFOobjective_server_nodetype: 0 ×4 + 3.87sINFOobjective_server_nodename: "" ×4 + 3.87sINFOobjective_server_nodeinstance_id: "" ×4 + 3.87sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789638809.24613738 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789638809.30628467 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.813345 ms (missed cycles : 5).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.52sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.57sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.72sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 4.72sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 103 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789638809.90081286 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 0.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-17 09:53:30.046] [info] Accepted new action goal ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758226 ms (missed cycles : 2).[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248690 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789638812.05471349 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797267 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003129 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789638813.69726801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_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 + 3.94sINFOobjective_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 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-17 09:53:34.104] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256283 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512180 ms (missed cycles : 3).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710503 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555071 ms (missed cycles : 3).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804972 ms (missed cycles : 2).[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894492 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789638867.69176531 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789638868.29583549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.66sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-17 09:54:28.469] [info] Accepted new action goal ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312849 ms (missed cycles : 5).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801043 ms (missed cycles : 2).[0m ×2 + 4.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.00sINFOobjective_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 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414405 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 · 2108 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2108 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2108 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2108 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×674 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×674 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×336 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×336 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634950 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365217 ms (missed cycles : 2).[0m ×2 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318338 ms (missed cycles : 2).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704267 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789638934.37581325 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_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 + 3.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789638935.08149910 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 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 09:55:35.285] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731907 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518509 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 09:55:42.546] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704186 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-09-17 09:55:44.165] [info] Accepted new action goal ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036038 ms (missed cycles : 6).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789638945.46166348 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860459 ms (missed cycles : 3).[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789638946.26699448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-17 09:55:46.401] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665956 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474310 ms (missed cycles : 6).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900825 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324491 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244977 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104093 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995630 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_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 + 3.41sERRORobjective_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: 1789638956.54744601 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.96sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.96sINFOobjective_server_nodecaller: ×2 + 3.96sINFOobjective_server_nodetype: 0 ×2 + 3.96sINFOobjective_server_nodename: "" ×2 + 3.96sINFOobjective_server_nodeinstance_id: "" ×2 + 3.96sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789638957.15797114 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101201 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.32sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-09-17 09:55:57.451] [info] Accepted new action goal ×2 + 4.45sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057591 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489220 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197042 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684680 ms (missed cycles : 2).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592513 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789638967.04480839 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.03sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789638967.70094204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 09:56:07.836] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341540 ms (missed cycles : 5).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811438 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_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 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195070 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sERRORobjective_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: 1789638978.05121756 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sERRORobjective_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: 1789638978.05121756 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sERRORobjective_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: 1789638978.05121756 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870860 ms (missed cycles : 5).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sERRORobjective_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: 1789638978.05121756 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 5.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.24sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.30sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sERRORobjective_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: 1789638978.05121756 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_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 + 2.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sERRORobjective_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: 1789638978.05121756 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_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 + 2.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242293 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493896 ms (missed cycles : 4).[0m ×2 + 1.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sERRORobjective_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: 1789638978.05121756 seconds ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.09sINFOobjective_server_nodecaller: ×6 + 2.09sINFOobjective_server_nodetype: 0 ×6 + 2.09sINFOobjective_server_nodename: "" ×6 + 2.09sINFOobjective_server_nodeinstance_id: "" ×6 + 2.09sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789638978.67413974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826360 ms (missed cycles : 4).[0m ×2 + 2.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789638978.75426364 seconds ×3 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789638979.38325691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_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 + 2.88sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789638979.40666890 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789638980.05577898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018107 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.169] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 09:56:20.170] [info] Accepted new action goal ×2 + 4.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950492 ms (missed cycles : 5).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797340 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[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 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 2.85sERRORobjective_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: 1789638990.55500746 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.39sINFOobjective_server_nodecaller: ×8 + 3.39sINFOobjective_server_nodetype: 0 ×8 + 3.39sINFOobjective_server_nodename: "" ×8 + 3.39sINFOobjective_server_nodeinstance_id: "" ×8 + 3.39sINFOobjective_server_node ×8 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.489795 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.782098 ms (missed cycles : 6).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706554 ms (missed cycles : 5).[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 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Got request to cancel active goal. ×2 + 2.84sINFOros2_control_node[2026-09-17 09:56:30.546] [info] Canceling active goal... ×2 + 2.85sERRORobjective_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: 1789638990.55500746 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996226 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.39sINFOobjective_server_nodecaller: ×8 + 3.39sINFOobjective_server_nodetype: 0 ×8 + 3.39sINFOobjective_server_nodename: "" ×8 + 3.39sINFOobjective_server_nodeinstance_id: "" ×8 + 3.39sINFOobjective_server_node ×8 + 3.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789638991.15357518 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244127 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789638992.15370154 seconds ×3 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789638992.75330639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789638992.75520110 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863577 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.64sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789638993.40424252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789638993.43508148 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789638994.03340220 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 40 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-17-09-51-57-637347-2062df06c8bc-7173 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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 3.718947 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7221] ×2 + 0.87sINFOmove_group-9process started with pid [7272] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7273] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7274] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7275] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7276] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7277] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7278] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7279] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7280] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7281] ×2 + 0.87sINFOweb_bridge-19process started with pid [7282] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7346] ×2 + 0.87sINFOvideo_server-21process started with pid [7348] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7351] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7354] ×2 + 0.88sINFOros2-2process started with pid [7222] ×2 + 0.88sINFOros2-3process started with pid [7223] ×2 + 0.88sINFOros2-4process started with pid [7224] ×2 + 0.88sINFOros2-5process started with pid [7225] ×2 + 0.88sINFOros2-6process started with pid [7226] ×2 + 0.88sINFOros2-7process started with pid [7227] ×2 + 0.88sINFOros2-8process started with pid [7228] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718947 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF configuration loaded from /tmp/moveit-webrtc-xcobyj_s/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.59sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOmove_group[2026-09-17 09:51:59.973] [moveit_pro_license] [info] ×2 + 1.96sINFOmove_group************************************************* ×4 + 1.96sINFOmove_group* MoveIt Pro License ×2 + 1.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOwaypoint_manager_node[2026-09-17 09:52:00.061] [moveit_pro_license] [info] ×2 + 2.05sINFOwaypoint_manager_node************************************************* ×4 + 2.05sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.05sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.12sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850578 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850578 ms (missed cycles : 2).[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.40sINFOmove_group ×4 + 2.40sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOobjective_server_node[2026-09-17 09:52:01.412] [moveit_pro_license] [info] ×2 + 3.40sINFOobjective_server_node************************************************* ×4 + 3.40sINFOobjective_server_node* MoveIt Pro License ×2 + 3.40sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOobjective_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 + 3.52sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.53sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.62sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.62sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.97sINFOcomponent_container_mt[2026-09-17 09:52:01.981] [moveit_pro_license] [info] ×2 + 3.97sINFOcomponent_container_mt************************************************* ×4 + 3.97sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.97sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.00sWARNros2_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 + 4.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.22sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 4.22sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 4.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.23sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.27sINFOros2_control_node[2026-09-17 09:52:02.285] [info] Controller state will be published at 20 Hz. ×2 + 4.27sINFOros2_control_node[2026-09-17 09:52:02.286] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955711 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955711 ms (missed cycles : 2).[0m ×2 + 4.51sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.51sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.55sINFOros2-8process has finished cleanly [pid 7228] ×2 + 4.59sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 4.59sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 4.62sINFOros2_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 + 4.62sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.62sWARNros2_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 + 4.63sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.63sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.63sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.63sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.63sINFOros2_control_node[2026-09-17 09:52:02.642] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.63sINFOros2_control_node[2026-09-17 09:52:02.642] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.65sINFOros2_control_node[2026-09-17 09:52:02.666] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.65sINFOros2_control_node[2026-09-17 09:52:02.666] [info] Controller state will be published at 50 Hz. ×2 + 4.66sINFOros2_control_node[2026-09-17 09:52:02.672] [info] Registered `FollowJointTrajectory` action server. ×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 + 4.99sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 4.99sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 5.02sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.02sINFOros2-6process has finished cleanly [pid 7226] ×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 + 5.03sINFOcontroller_managerSuccessfully switched controllers! ×16 + 5.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 5.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.34sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 5.34sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 5.37sINFOros2-4process has finished cleanly [pid 7224] ×2 + 5.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.39sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.40sINFOforce_torque_sensor_broadcasterconfigure successful + 5.40sINFOros2_control_nodeconfigure successful[0m ×2 + 5.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 5.50sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.69sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.69sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.69sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.69sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 5.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 5.71sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.71sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.72sINFOros2-2process has finished cleanly [pid 7222] ×2 + 5.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 5.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.74sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.74sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.00sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 6.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 6.10sINFOros2-3process has finished cleanly [pid 7223] ×2 + 6.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.13sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.31sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.44sINFOros2-5process has finished cleanly [pid 7225] ×2 + 6.47sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 6.47sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 6.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.54sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 6.54sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.63sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.63sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.63sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.63sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.63sINFOobjective_server_nodecaller: ×10 + 6.63sINFOobjective_server_nodetype: 0 ×10 + 6.63sINFOobjective_server_nodename: "" ×10 + 6.63sINFOobjective_server_nodeinstance_id: "" ×10 + 6.63sINFOobjective_server_node ×10 + 6.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 6.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 6.87sINFOros2-7process has finished cleanly [pid 7227] ×2 + 7.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 8.31sWARNros2_control_nodeCamera render tick took 1.87 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 + 8.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 9.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 10.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 10.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 399 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2-7process has finished cleanly [pid 7227] ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 1.69sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.17sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 7.40sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 7.68sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 7.68sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 479 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.16sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.18sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.18sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.18sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.18sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.19sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.19sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.19sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.20sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.60sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.69sINFOobjective_server_nodecaller: ×14 + 0.69sINFOobjective_server_nodetype: 0 ×14 + 0.69sINFOobjective_server_nodename: "" ×14 + 0.69sINFOobjective_server_nodeinstance_id: "" ×14 + 0.69sINFOobjective_server_node ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.37sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.86sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 184 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/2026-09-17-09-51-57-637347-2062df06c8bc-7173 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_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 3.718947 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7221] ×2 + 0.87sINFOmove_group-9process started with pid [7272] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7273] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7274] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7275] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7276] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7277] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7278] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7279] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7280] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7281] ×2 + 0.87sINFOweb_bridge-19process started with pid [7282] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7346] ×2 + 0.87sINFOvideo_server-21process started with pid [7348] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7351] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7354] ×2 + 0.88sINFOros2-2process started with pid [7222] ×2 + 0.88sINFOros2-3process started with pid [7223] ×2 + 0.88sINFOros2-4process started with pid [7224] ×2 + 0.88sINFOros2-5process started with pid [7225] ×2 + 0.88sINFOros2-6process started with pid [7226] ×2 + 0.88sINFOros2-7process started with pid [7227] ×2 + 0.88sINFOros2-8process started with pid [7228] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718947 ms (missed cycles : 3).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF configuration loaded from /tmp/moveit-webrtc-xcobyj_s/mediamtx.yml ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.11sINFOvideo_server2026/09/17 09:51:59 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.59sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.96sINFOmove_group[2026-09-17 09:51:59.973] [moveit_pro_license] [info] ×2 + 1.96sINFOmove_group************************************************* ×4 + 1.96sINFOmove_group* MoveIt Pro License ×2 + 1.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.05sINFOwaypoint_manager_node[2026-09-17 09:52:00.061] [moveit_pro_license] [info] ×2 + 2.05sINFOwaypoint_manager_node************************************************* ×4 + 2.05sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.05sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_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 + 2.12sINFOros2_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 + 2.12sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850578 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850578 ms (missed cycles : 2).[0m ×2 + 2.21sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.40sINFOmove_group ×4 + 2.40sINFOmove_group[92mYou can start planning now![0m ×2 + 3.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOobjective_server_node[2026-09-17 09:52:01.412] [moveit_pro_license] [info] ×2 + 3.40sINFOobjective_server_node************************************************* ×4 + 3.40sINFOobjective_server_node* MoveIt Pro License ×2 + 3.40sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.52sINFOobjective_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 + 3.52sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.53sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.53sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.62sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.62sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7224] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 0.16sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.76sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.09sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.28sINFOobjective_server_nodecaller: ×14 + 1.28sINFOobjective_server_nodetype: 0 ×14 + 1.28sINFOobjective_server_nodename: "" ×14 + 1.28sINFOobjective_server_nodeinstance_id: "" ×14 + 1.28sINFOobjective_server_node ×14 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7224] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 0.16sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.76sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.09sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.28sINFOobjective_server_nodecaller: ×14 + 1.28sINFOobjective_server_nodetype: 0 ×14 + 1.28sINFOobjective_server_nodename: "" ×14 + 1.28sINFOobjective_server_nodeinstance_id: "" ×14 + 1.28sINFOobjective_server_node ×14 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7224] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.670132 ms (missed cycles : 5).[0m ×2 + 0.16sWARNobjective_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 + 0.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.76sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.78sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.78sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.78sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.78sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.78sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.78sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.78sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.79sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.09sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 1.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.28sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.28sINFOobjective_server_nodecaller: ×14 + 1.28sINFOobjective_server_nodetype: 0 ×14 + 1.28sINFOobjective_server_nodename: "" ×14 + 1.28sINFOobjective_server_nodeinstance_id: "" ×14 + 1.28sINFOobjective_server_node ×14 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 1.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 1.53sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 6.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 479 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.10sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.12sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.12sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.12sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.16sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.18sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.18sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.18sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.18sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.18sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.18sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.18sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.18sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.19sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.19sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.19sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.19sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.20sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jaeu1w1r --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_moqleb63 --params-file /tmp/launch_params_qvny1shq [0m ×2 + 0.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.60sINFOros2_control_node[2026-09-17 09:52:04.548] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 09:52:04.549] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.69sINFOobjective_server_nodecaller: ×14 + 0.69sINFOobjective_server_nodetype: 0 ×14 + 0.69sINFOobjective_server_nodename: "" ×14 + 0.69sINFOobjective_server_nodeinstance_id: "" ×14 + 0.69sINFOobjective_server_node ×14 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 0.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 2.37sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.86sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789638724.69452596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789638724.70470524 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896946 ms (missed cycles : 3).[0m ×2 + 0.25sINFOros2-7process has finished cleanly [pid 7227] ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789638725.29665661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 1.69sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.17sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030720 ms (missed cycles : 2).[0m ×2 + 0.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789638726.20678926 seconds ×3 + 0.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.17sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sWARNros2_control_nodeCamera render tick took 1.87 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 + 0.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.70sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.71sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.71sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.71sINFOobjective_server_nodecaller: ×10 + 0.71sINFOobjective_server_nodetype: 0 ×10 + 0.71sINFOobjective_server_nodename: "" ×10 + 0.71sINFOobjective_server_nodeinstance_id: "" ×10 + 0.71sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789638726.82172751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789638726.88188028 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141778 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.43sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789638727.54540324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789638727.55552197 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789638728.14641261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603511 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789638728.29696083 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789638729.02477169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789638729.07500720 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310224 ms (missed cycles : 5).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789638729.68174243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.1645e-05 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.74sINFOros2_control_node[2026-09-17 09:52:09.809] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-17 09:52:09.810] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793063 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.006729 ms (missed cycles : 10).[0m ×2 + 5.97sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.23sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2). + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Received new action goal ×2 + 6.26sINFOros2_control_node[2026-09-17 09:52:12.318] [info] Accepted new action goal ×2 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073314 ms (missed cycles : 2).[0m ×2 | ||||