129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 160 warnings · 21582 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789664850.97343993 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789664851.56866193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.64sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Accepted new action goal ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773466 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773466 ms (missed cycles : 2).[0m ×2 + 6.92sINFOjoint_trajectory_controllerReceived new action goal ×3553 + 6.92sINFOjoint_trajectory_controllerAccepted new action goal ×3553 + 6.92sINFOros2_control_nodeReceived new action goal[0m ×7106 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×7106 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775414 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775414 ms (missed cycles : 2).[0m ×2 + 8.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621857 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621857 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036245 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036245 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891217 ms (missed cycles : 4). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891217 ms (missed cycles : 4).[0m ×2 + 11.98sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.98sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.98sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290984 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290984 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013898 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013898 ms (missed cycles : 2).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856365 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856365 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758554 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758554 ms (missed cycles : 2).[0m ×2 + 15.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×4 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400986 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400986 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711597 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711597 ms (missed cycles : 2).[0m ×2 + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720245 ms (missed cycles : 2). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720245 ms (missed cycles : 2).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918430 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918430 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020495 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020495 ms (missed cycles : 2).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550986 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550986 ms (missed cycles : 2).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110279 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110279 ms (missed cycles : 2).[0m ×2 + 23.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760097 ms (missed cycles : 2). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760097 ms (missed cycles : 2).[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630954 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630954 ms (missed cycles : 3).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002938 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002938 ms (missed cycles : 2).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020707 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020707 ms (missed cycles : 2).[0m ×2 + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223621 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223621 ms (missed cycles : 2).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388852 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388852 ms (missed cycles : 3).[0m ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189105 ms (missed cycles : 2). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189105 ms (missed cycles : 2).[0m ×2 + 30.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751589 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751589 ms (missed cycles : 2).[0m ×2 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816791 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816791 ms (missed cycles : 2).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176732 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176732 ms (missed cycles : 2).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703611 ms (missed cycles : 2). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703611 ms (missed cycles : 2).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033572 ms (missed cycles : 2). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033572 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205406 ms (missed cycles : 2).[0m ×2 + 36.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857754 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857754 ms (missed cycles : 3).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814564 ms (missed cycles : 2). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814564 ms (missed cycles : 2).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935699 ms (missed cycles : 3). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935699 ms (missed cycles : 3).[0m ×2 + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329757 ms (missed cycles : 2). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329757 ms (missed cycles : 2).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661335 ms (missed cycles : 3). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661335 ms (missed cycles : 3).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280166 ms (missed cycles : 3). + 42.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280166 ms (missed cycles : 3).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146700 ms (missed cycles : 3). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146700 ms (missed cycles : 3).[0m ×2 + 44.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831114 ms (missed cycles : 2). + 44.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831114 ms (missed cycles : 2).[0m ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993799 ms (missed cycles : 5). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993799 ms (missed cycles : 5).[0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030964 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030964 ms (missed cycles : 2).[0m ×2 + 47.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664895.45498943 seconds ×3 + 47.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.55sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013392 ms (missed cycles : 2). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013392 ms (missed cycles : 2).[0m ×2 + 47.91sINFOobjective_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: ""
+ 47.91sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789664896.10493684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.16sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 48.17sINFOros2_control_node[2026-09-17 17:08:16.258] [info] Received new action goal ×2 + 48.17sINFOros2_control_node[2026-09-17 17:08:16.258] [info] Accepted new action goal ×2 + 49.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702510 ms (missed cycles : 8). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702510 ms (missed cycles : 8).[0m ×2 + 49.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032839 ms (missed cycles : 2). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032839 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 154 warnings · 342 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377529 ms (missed cycles : 3). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.377529 ms (missed cycles : 3).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-17 17:06:40.418] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-17 17:06:40.418] [info] Accepted new action goal ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319493 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319493 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609946 ms (missed cycles : 4). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609946 ms (missed cycles : 4).[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319529 ms (missed cycles : 2). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319529 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.27sINFOros2_control_node[2026-09-17 17:06:43.568] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-17 17:06:43.568] [info] Accepted new action goal ×2 + 10.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140335 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140335 ms (missed cycles : 3).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306113 ms (missed cycles : 2). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306113 ms (missed cycles : 2).[0m ×2 + 13.14sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 13.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.19sINFOros2_control_node[2026-09-17 17:06:46.490] [info] Received new action goal ×2 + 13.19sINFOros2_control_node[2026-09-17 17:06:46.490] [info] Accepted new action goal ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879626 ms (missed cycles : 5). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879626 ms (missed cycles : 5).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069223 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069223 ms (missed cycles : 3).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456030 ms (missed cycles : 4). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456030 ms (missed cycles : 4).[0m ×2 + 16.14sINFOobjective_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 + 16.14sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.14sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.14sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.14sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070253 ms (missed cycles : 5). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070253 ms (missed cycles : 5).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877280 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877280 ms (missed cycles : 2).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.910102 ms (missed cycles : 7). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.910102 ms (missed cycles : 7).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240599 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240599 ms (missed cycles : 4).[0m ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761903 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761903 ms (missed cycles : 2).[0m ×2 + 22.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761893 ms (missed cycles : 3). + 22.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761893 ms (missed cycles : 3).[0m ×2 + 22.88sWARNros2_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 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223880 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223880 ms (missed cycles : 2).[0m ×2 + 23.76sINFOobjective_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 + 23.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.76sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.76sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369201 ms (missed cycles : 4). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369201 ms (missed cycles : 4).[0m ×2 + 24.65sINFOros2_control_node[2026-09-17 17:06:57.952] [info] Received new action goal ×2 + 24.65sINFOros2_control_node[2026-09-17 17:06:57.952] [info] Accepted new action goal ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906980 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.906980 ms (missed cycles : 4).[0m ×2 + 25.84sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.85sINFOobjective_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 + 26.12sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 26.17sINFOros2_control_node[2026-09-17 17:06:59.476] [info] Received new action goal ×2 + 26.17sINFOros2_control_node[2026-09-17 17:06:59.476] [info] Accepted new action goal ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552836 ms (missed cycles : 3). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552836 ms (missed cycles : 3).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897490 ms (missed cycles : 5). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897490 ms (missed cycles : 5).[0m ×2 + 28.47sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 28.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.48sINFOros2_control_node[2026-09-17 17:07:01.783] [info] Received new action goal ×2 + 28.48sINFOros2_control_node[2026-09-17 17:07:01.783] [info] Accepted new action goal ×2 + 28.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898111 ms (missed cycles : 3). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898111 ms (missed cycles : 3).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930805 ms (missed cycles : 3). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930805 ms (missed cycles : 3).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319664 ms (missed cycles : 2). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319664 ms (missed cycles : 2).[0m ×2 + 31.49sINFOros2_control_node[2026-09-17 17:07:04.793] [info] Received new action goal ×2 + 31.49sINFOros2_control_node[2026-09-17 17:07:04.793] [info] Accepted new action goal ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530081 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530081 ms (missed cycles : 2).[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649257 ms (missed cycles : 5). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649257 ms (missed cycles : 5).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424987 ms (missed cycles : 3). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424987 ms (missed cycles : 3).[0m ×2 + 34.09sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 34.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.17sINFOros2_control_node[2026-09-17 17:07:07.468] [info] Received new action goal ×2 + 34.17sINFOros2_control_node[2026-09-17 17:07:07.468] [info] Accepted new action goal ×2 + 34.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015031 ms (missed cycles : 5). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.015031 ms (missed cycles : 5).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211942 ms (missed cycles : 3). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211942 ms (missed cycles : 3).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988753 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988753 ms (missed cycles : 2).[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239230 ms (missed cycles : 2). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239230 ms (missed cycles : 2).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154027 ms (missed cycles : 5). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154027 ms (missed cycles : 5).[0m ×2 + 39.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228918 ms (missed cycles : 2). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228918 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059007 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059007 ms (missed cycles : 2).[0m ×2 + 42.33sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949061 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949061 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020280 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020280 ms (missed cycles : 2).[0m ×2 + 44.86sINFOros2_control_node[2026-09-17 17:07:18.165] [info] Received new action goal ×2 + 44.86sINFOros2_control_node[2026-09-17 17:07:18.165] [info] Accepted new action goal ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870414 ms (missed cycles : 3). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870414 ms (missed cycles : 3).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309740 ms (missed cycles : 4). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309740 ms (missed cycles : 4).[0m ×2 + 46.02sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789664839.32130003 seconds ×3 + 46.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.61sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.80sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789664840.10675645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641817 ms (missed cycles : 4). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641817 ms (missed cycles : 4).[0m ×2 + 47.82sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 47.84sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.85sINFOros2_control_node[2026-09-17 17:07:21.151] [info] Received new action goal ×2 + 47.85sINFOros2_control_node[2026-09-17 17:07:21.151] [info] Accepted new action goal ×2 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496384 ms (missed cycles : 5). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496384 ms (missed cycles : 5).[0m ×2 + 49.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990334 ms (missed cycles : 3). + 49.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990334 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 | 22.1s | 89 warnings · 14742 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2424 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2424 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4848 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4848 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831114 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831114 ms (missed cycles : 2).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993799 ms (missed cycles : 5). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.993799 ms (missed cycles : 5).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030964 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030964 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664895.45498943 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.45sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013392 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013392 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789664896.10493684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:16.258] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:16.258] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702510 ms (missed cycles : 8). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.702510 ms (missed cycles : 8).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.39sINFOobjective_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 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032839 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032839 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497337 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497337 ms (missed cycles : 2).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816866 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816866 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705584 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705584 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752507 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752507 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120554 ms (missed cycles : 3). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120554 ms (missed cycles : 3).[0m ×2 + 12.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×4 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576623 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576623 ms (missed cycles : 3).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728020 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728020 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591124 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591124 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409379 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409379 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689297 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689297 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814622 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814622 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706084 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706084 ms (missed cycles : 2).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004375 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004375 ms (missed cycles : 2).[0m ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861531 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861531 ms (missed cycles : 2).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247243 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247243 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 25.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 26.03sINFOobjective_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: ""
+ 26.03sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sWARNros2_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 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.32sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 27.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×4 + 0.07sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 1 iterations (0.00338584 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.46sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5).[0m ×2 + 1.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_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 + 2.12sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1789664780.11191893 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.67sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.67sINFOobjective_server_nodecaller: ×6 + 2.67sINFOobjective_server_nodetype: 0 ×6 + 2.67sINFOobjective_server_nodename: "" ×6 + 2.67sINFOobjective_server_nodeinstance_id: "" ×6 + 2.67sINFOobjective_server_node ×6 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789664780.76271510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.95sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Accepted new action goal ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2).[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2).[0m ×2 + 5.47sINFOros2_control_node[2026-09-17 17:06:23.455] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-09-17 17:06:23.455] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803245 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803245 ms (missed cycles : 3).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217014 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217014 ms (missed cycles : 2).[0m ×2 + 7.27sWARNros2_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 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358884 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.358884 ms (missed cycles : 4).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634051 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634051 ms (missed cycles : 3).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058647 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058647 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.952096 ms (missed cycles : 8). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.952096 ms (missed cycles : 8).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2).[0m ×2 + 13.32sWARNros2_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 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5).[0m ×2 + 14.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789664792.02574873 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2).[0m ×2 + 14.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.65sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 14.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789664792.69134903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789664792.76147318 seconds ×3 + 15.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.32sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.50sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 15.50sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 17.51sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949061 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949061 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020280 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020280 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_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 + 1.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.10sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.10sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.10sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.00sINFOros2_control_node[2026-09-17 17:07:18.165] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-17 17:07:18.165] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870414 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870414 ms (missed cycles : 3).[0m ×2 + 2.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309740 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309740 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789664839.32130003 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.74sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.74sINFOobjective_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: 1789664840.10675645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641817 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.641817 ms (missed cycles : 4).[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 (2.71e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.99sINFOros2_control_node[2026-09-17 17:07:21.151] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-09-17 17:07:21.151] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496384 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.496384 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990334 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990334 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240532 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240532 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.913370 ms (missed cycles : 7). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.913370 ms (missed cycles : 7).[0m ×2 + 8.68sINFOobjective_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 + 8.68sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.68sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.69sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.69sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135605 ms (missed cycles : 6). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135605 ms (missed cycles : 6).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689598 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689598 ms (missed cycles : 4).[0m ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (5.35e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.20sINFOros2_control_node[2026-09-17 17:07:27.368] [info] Received new action goal ×2 + 11.20sINFOros2_control_node[2026-09-17 17:07:27.368] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5).[0m ×2 + 13.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7).[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789664850.97343993 seconds ×3 + 15.35sINFOobjective_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: ""
+ 15.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789664851.56866193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 15.56sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.57sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Received new action goal ×2 + 15.57sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4).[0m ×2 + 16.83sINFOobjective_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 + 16.84sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 57 errors · 39 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-17 17:09:33.000] [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: 1789664973.00408077 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.55sINFOobjective_server_nodecaller: ×8 + 0.55sINFOobjective_server_nodetype: 0 ×8 + 0.55sINFOobjective_server_nodename: "" ×8 + 0.55sINFOobjective_server_nodeinstance_id: "" ×8 + 0.55sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 1.99sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 1.99sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 1.99sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664977.18131280 seconds ×3 + 4.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391321 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391321 ms (missed cycles : 4).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939720 ms (missed cycles : 7). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.939720 ms (missed cycles : 7).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141409 ms (missed cycles : 5). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141409 ms (missed cycles : 5).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321865 ms (missed cycles : 6). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.321865 ms (missed cycles : 6).[0m ×2 + 10.28sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.29sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORweb_video_auth_proxy-23process has died [pid 7351, 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 + 10.30sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.30sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORweb_bridge_auth_proxy-22process has died [pid 7350, 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 + 10.30sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.31sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.31sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.31sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.32sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.32sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.33sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.33sINFOvideo_server-21process has finished cleanly [pid 7349] ×2 + 10.33sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.34sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.34sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.35sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.35sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.36sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.36sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.36sINFOcontroller_managerShutdown request received.... + 10.36sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.36sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.36sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.36sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.36sINFOvideo_server2026/09/17 17:09:43 INF shutting down gracefully ×2 + 10.36sINFOvideo_server2026/09/17 17:09:43 INF [WebRTC] closing ×2 + 10.36sINFOvideo_server2026/09/17 17:09:43 INF [RTSP] closing ×2 + 10.36sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.37sINFOvideo_server2026/09/17 17:09:43 INF waiting for running hooks ×2 + 10.37sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.37sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.37sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.37sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.37sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.37sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.37sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.37sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOcontroller_managerShutting down the controller manager. + 10.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.37sERRORmove_groupStack trace (most recent call last) in thread 7699: ×2 + 10.37sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.37sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.37sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.37sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.37sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.37sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.37sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.37sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.37sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ddab31a63, in __clone ×2 + 10.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ddaaa4aa3, in ×2 + 10.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ddad36db3, in ×2 + 10.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5ddb49ab54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ddb0c8620, in rclcpp::Rate::sleep() ×2 + 10.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ddb00ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ddafcc087, in ×2 + 10.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ddad05390, in __cxa_throw ×2 + 10.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ddacefa54, in std::terminate() ×2 + 10.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ddad050d9, in ×2 + 10.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ddacefff4, in ×2 + 10.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ddaa308fe, in abort ×2 + 10.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ddaa4d27d, in raise ×2 + 10.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ddaaa6b2c, in pthread_kill ×2 + 10.37sERRORmove_groupAborted (Signal sent by tkill() 7242 0) ×2 + 10.38sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.38sERRORmove_group-9process has died [pid 7242, 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_mya2rt9t --params-file /tmp/launch_params_v4ot9fut --params-file /tmp/launch_params_swd481af --params-file /tmp/launch_params__7a505p2 --params-file /tmp/launch_params_04u1jiba --params-file /tmp/launch_params_1v2bh630']. ×2 + 10.58sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.58sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.58sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.36sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7348] ×2 + 11.36sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.38sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7246] ×2 + 11.39sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7245] ×2 + 11.42sINFOexecute_objective_bridge-17process has finished cleanly [pid 7250] ×2 + 11.42sINFOui_teleop_bridge-18process has finished cleanly [pid 7251] ×2 + 11.42sINFOwaypoint_manager_node-11process has finished cleanly [pid 7244] ×2 + 11.44sINFOparameter_manager_node-10process has finished cleanly [pid 7243] ×2 + 11.48sINFOcomponent_container_mt-16process has finished cleanly [pid 7249] ×2 + 11.49sINFOobjective_server_node[0;m[2026-09-17 17:09:44.482] [moveit_pro_license] [critical] ×2 + 11.49sINFOobjective_server_node************************************************* ×4 + 11.49sINFOobjective_server_node* MoveIt Pro License ×2 + 11.49sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.61sINFOobjective_server_node_main-14process has finished cleanly [pid 7247] ×2 + 11.61sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.45sINFOweb_bridge-19process has finished cleanly [pid 7252] ×2 + 12.45sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.52sINFOcomponent_container_mt-15process has finished cleanly [pid 7248] ×2 + 13.00sINFOros2_control_node-1process has finished cleanly [pid 7223] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 60 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329037 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329037 ms (missed cycles : 2).[0m ×2 + 6.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703909 ms (missed cycles : 5). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.703909 ms (missed cycles : 5).[0m ×2 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.15sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 5 iterations (0.00690324 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450815 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450815 ms (missed cycles : 5).[0m ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.31sINFOros2_control_node[2026-09-17 17:06:04.456] [info] Received new action goal ×2 + 9.31sINFOros2_control_node[2026-09-17 17:06:04.456] [info] Accepted new action goal ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442970 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442970 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201193 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201193 ms (missed cycles : 2).[0m ×2 + 11.58sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.84sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.84sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.85sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789664767.02683568 seconds ×3 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470182 ms (missed cycles : 5). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470182 ms (missed cycles : 5).[0m ×2 + 12.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501423 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501423 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407298 ms (missed cycles : 5). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407298 ms (missed cycles : 5).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.58sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789664769.72319150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 14.78sINFOros2_control_node[2026-09-17 17:06:09.927] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-17 17:06:09.927] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164588 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164588 ms (missed cycles : 2).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110803 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110803 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001198 ms (missed cycles : 7). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001198 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201193 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201193 ms (missed cycles : 2).[0m ×2 + 0.67sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.94sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.94sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789664767.02683568 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470182 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.470182 ms (missed cycles : 5).[0m ×2 + 2.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501423 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501423 ms (missed cycles : 3).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407298 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407298 ms (missed cycles : 5).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789664769.72319150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-17 17:06:09.927] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-17 17:06:09.927] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164588 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164588 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110803 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110803 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001198 ms (missed cycles : 7). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.001198 ms (missed cycles : 7).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274864 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274864 ms (missed cycles : 2).[0m ×2 + 8.16sWARNros2_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 + 8.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868577 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868577 ms (missed cycles : 3).[0m ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 5 iterations (0.00596509 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.47sINFOros2_control_node[2026-09-17 17:06:15.520] [info] Received new action goal ×2 + 9.47sINFOros2_control_node[2026-09-17 17:06:15.520] [info] Accepted new action goal ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981530 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981530 ms (missed cycles : 3).[0m ×2 + 9.58sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912644 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912644 ms (missed cycles : 3).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2).[0m ×2 + 12.00sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×4 + 12.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 12.01sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.02sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 12.15sINFOobjective_server_nodeFound path in 1 iterations (0.00338584 s). ×2 + 12.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 12.39sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Received new action goal ×2 + 12.39sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Accepted new action goal ×2 + 12.82sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Received new action goal ×2 + 12.82sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Accepted new action goal ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5).[0m ×2 + 13.19sWARNros2_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 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2).[0m ×2 + 14.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.05sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Got request to cancel active goal. ×2 + 14.06sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Canceling active goal... ×2 + 14.06sERRORobjective_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: 1789664780.11191893 seconds ×3 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789664780.76271510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2).[0m ×2 + 17.41sINFOros2_control_node[2026-09-17 17:06:23.455] [info] Received new action goal ×2 + 17.41sINFOros2_control_node[2026-09-17 17:06:23.455] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789664949.99430537 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.37sINFOobjective_server_nodecaller: ×8 + 3.37sINFOobjective_server_nodetype: 0 ×8 + 3.37sINFOobjective_server_nodename: "" ×8 + 3.37sINFOobjective_server_nodeinstance_id: "" ×8 + 3.37sINFOobjective_server_node ×8 + 3.43sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789664950.64326644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.57sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109948 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109948 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252450 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.252450 ms (missed cycles : 5).[0m ×2 + 8.43sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133417 ms (missed cycles : 5). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133417 ms (missed cycles : 5).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080710 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080710 ms (missed cycles : 3).[0m ×2 + 10.02sWARNros2_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 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 13.79sINFOobjective_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 + 13.79sERRORobjective_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: 1789664961.00361776 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 15.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.03sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_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 + 15.11sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 15.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 15.85sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.85sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 15.85sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.0s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_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 + 1.55sERRORobjective_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: 1789664734.50202560 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594452 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594452 ms (missed cycles : 3).[0m ×2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.39sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089786 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 1 iterations (0.004433 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.06sINFOros2_control_node[2026-09-17 17:05:41.012] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-17 17:05:41.012] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030813 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030813 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812266 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812266 ms (missed cycles : 3).[0m ×2 + 10.37sINFOros2_control_node[2026-09-17 17:05:43.315] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-17 17:05:43.315] [info] Accepted new action goal ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402403 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402403 ms (missed cycles : 2).[0m ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 12.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.01sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 13.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 13.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.85sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.66sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.78sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 17.02sWARNros2_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 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 218 info |
+ 0.00sWARNros2_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 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059358 ms (missed cycles : 2). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059358 ms (missed cycles : 2).[0m ×2 + 7.17sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.18sINFOros2_control_node[2026-09-17 17:05:51.089] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-09-17 17:05:51.089] [info] Accepted new action goal ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207630 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207630 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883374 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883374 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 9.52sINFOros2_control_node[2026-09-17 17:05:53.427] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-09-17 17:05:53.427] [info] Accepted new action goal ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485176 ms (missed cycles : 6). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.485176 ms (missed cycles : 6).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.87sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 12.09sWARNros2_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 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 14.09sINFOobjective_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 + 14.10sERRORobjective_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: 1789664758.00561500 seconds ×3 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 14.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.93sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 54 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681585 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681585 ms (missed cycles : 3).[0m ×2 + 8.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480173 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480173 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989428 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989428 ms (missed cycles : 2).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4).[0m ×2 + 14.27sINFOobjective_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 + 14.28sERRORobjective_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: 1789664939.50799489 seconds ×3 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789664940.10109520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.17sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Accepted new action goal ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050211 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776769 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776769 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.00sINFOobjective_server_nodeFound path in 0 iterations (7.79e-07 s). ×2 + 2.02sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.03sINFOros2_control_node[2026-09-17 17:05:23.157] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-09-17 17:05:23.157] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258593 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258593 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_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 + 2.48sINFOros2_control_node[2026-09-17 17:05:23.603] [info] Got request to cancel active goal. ×2 + 2.48sINFOros2_control_node[2026-09-17 17:05:23.603] [info] Canceling active goal... ×2 + 2.49sERRORobjective_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: 1789664723.61907077 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.03sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.03sINFOobjective_server_nodecaller: ×6 + 3.03sINFOobjective_server_nodetype: 0 ×6 + 3.03sINFOobjective_server_nodename: "" ×6 + 3.03sINFOobjective_server_nodeinstance_id: "" ×6 + 3.03sINFOobjective_server_node ×6 + 3.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789664724.22149086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887060 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887060 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.33sINFOros2_control_node[2026-09-17 17:05:24.455] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-09-17 17:05:24.455] [info] Accepted new action goal ×2 + 3.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109535 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109535 ms (missed cycles : 2).[0m ×2 + 5.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.59sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.59sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879767 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879767 ms (missed cycles : 2).[0m ×2 + 5.61sINFOros2_control_node[2026-09-17 17:05:26.735] [info] Received new action goal ×2 + 5.61sINFOros2_control_node[2026-09-17 17:05:26.735] [info] Accepted new action goal ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527146 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527146 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652639 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652639 ms (missed cycles : 3).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470682 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470682 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215269 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.215269 ms (missed cycles : 5).[0m ×2 + 9.99sWARNros2_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 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 13.37sERRORobjective_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: 1789664734.50202560 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.99sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 14.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 14.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.00sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 16.12sWARNros2_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 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 54 warnings · 2424 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093935 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093935 ms (missed cycles : 2).[0m ×2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 1 iterations (0.0032992 s). ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874984 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874984 ms (missed cycles : 3).[0m ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.59sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.60sINFOros2_control_node[2026-09-17 17:08:42.927] [info] Received new action goal ×2 + 8.60sINFOros2_control_node[2026-09-17 17:08:42.927] [info] Accepted new action goal ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943846 ms (missed cycles : 7). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943846 ms (missed cycles : 7).[0m ×2 + 9.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799283 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799283 ms (missed cycles : 2).[0m ×2 + 10.91sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 10.91sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 12.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.55sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 14.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.86sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 14.99sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 16.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 54 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.62sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 5.63sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.15sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139538 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139538 ms (missed cycles : 3).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790820 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790820 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_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 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168737 ms (missed cycles : 4). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168737 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 9.81sINFOros2_control_node[2026-09-17 17:05:19.807] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-09-17 17:05:19.807] [info] Accepted new action goal ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367552 ms (missed cycles : 4). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367552 ms (missed cycles : 4).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050211 ms (missed cycles : 5). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.050211 ms (missed cycles : 5).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776769 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776769 ms (missed cycles : 3).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (7.79e-07 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.16sINFOros2_control_node[2026-09-17 17:05:23.157] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-17 17:05:23.157] [info] Accepted new action goal ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258593 ms (missed cycles : 3). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.258593 ms (missed cycles : 3).[0m ×2 + 13.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.60sINFOros2_control_node[2026-09-17 17:05:23.603] [info] Got request to cancel active goal. ×2 + 13.60sINFOros2_control_node[2026-09-17 17:05:23.603] [info] Canceling active goal... ×2 + 13.62sERRORobjective_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: 1789664723.61907077 seconds ×3 + 13.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sINFOobjective_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: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789664724.22149086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887060 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887060 ms (missed cycles : 2).[0m ×2 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 14.46sINFOros2_control_node[2026-09-17 17:05:24.455] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-09-17 17:05:24.455] [info] Accepted new action goal ×2 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109535 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109535 ms (missed cycles : 2).[0m ×2 + 16.72sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 16.72sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879767 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879767 ms (missed cycles : 2).[0m ×2 + 16.74sINFOros2_control_node[2026-09-17 17:05:26.735] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-17 17:05:26.735] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.97sERRORobjective_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: 1789664961.00361776 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.54sINFOobjective_server_nodecaller: ×14 + 2.54sINFOobjective_server_nodetype: 0 ×14 + 2.54sINFOobjective_server_nodename: "" ×14 + 2.54sINFOobjective_server_nodeinstance_id: "" ×14 + 2.54sINFOobjective_server_node ×14 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4).[0m ×2 + 7.35sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.35sINFOros2_control_node[2026-09-17 17:09:26.383] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-09-17 17:09:26.383] [info] Accepted new action goal ×2 + 7.35sINFOros2_control_node[2026-09-17 17:09:26.383] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564721 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564721 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.052231 ms (missed cycles : 8). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.052231 ms (missed cycles : 8).[0m ×2 + 9.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123873 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123873 ms (missed cycles : 3).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2).[0m ×2 + 13.97sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 13.97sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 13.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789664973.00408077 seconds ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 15.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.90sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.95sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.95sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.95sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.95sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 16.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.62sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 17.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.27sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sERRORobjective_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: 1789664939.50799489 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.78sINFOobjective_server_nodename: "" ×4 + 3.78sINFOobjective_server_nodeinstance_id: "" ×4 + 3.78sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789664940.10109520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.13sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534917 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534917 ms (missed cycles : 3).[0m ×2 + 8.14sINFOros2_control_node[2026-09-17 17:09:04.409] [info] Received new action goal ×2 + 8.14sINFOros2_control_node[2026-09-17 17:09:04.409] [info] Accepted new action goal ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080639 ms (missed cycles : 6). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.080639 ms (missed cycles : 6).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344721 ms (missed cycles : 4). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.344721 ms (missed cycles : 4).[0m ×2 + 9.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3).[0m ×2 + 13.72sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789664949.99430537 seconds ×3 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2).[0m ×2 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.37sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789664950.64326644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.50sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Received new action goal ×2 + 14.50sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3).[0m ×2 + 15.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5).[0m ×2 + 16.41sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2).[0m ×2 + 0.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5).[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789664792.02574873 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.19sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.19sINFOobjective_server_nodecaller: ×6 + 2.19sINFOobjective_server_nodetype: 0 ×6 + 2.19sINFOobjective_server_nodename: "" ×6 + 2.19sINFOobjective_server_nodeinstance_id: "" ×6 + 2.19sINFOobjective_server_node ×6 + 2.24sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789664792.69134903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789664792.76147318 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.91sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.02sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.04sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 3.04sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.61sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.76sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.77sINFOobjective_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 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.10sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 7.61sWARNros2_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 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 39 warnings · 691 info |
+ 0.00sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.00sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.00sWARNros2_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 + 0.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.10sINFOcomponent_container_mt[2026-09-17 17:05:05.703] [moveit_pro_license] [info] ×2 + 0.10sINFOcomponent_container_mt************************************************* ×4 + 0.10sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.10sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.14sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.14sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.18sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.18sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.18sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.35sINFOros2_control_node[2026-09-17 17:05:05.948] [info] Controller state will be published at 10 Hz. ×2 + 0.35sINFOros2_control_node[2026-09-17 17:05:05.950] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899020 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899020 ms (missed cycles : 2).[0m ×2 + 0.52sINFOros2_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 + 0.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.52sWARNros2_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 + 0.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.62sINFOros2-7process has finished cleanly [pid 7229] ×2 + 0.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.69sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.95sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.95sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2-5process has finished cleanly [pid 7227] ×2 + 1.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.06sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.06sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-09-17 17:05:06.669] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.07sINFOros2_control_node[2026-09-17 17:05:06.669] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.09sINFOros2_control_node[2026-09-17 17:05:06.695] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.09sINFOros2_control_node[2026-09-17 17:05:06.695] [info] Controller state will be published at 50 Hz. ×2 + 1.10sINFOros2_control_node[2026-09-17 17:05:06.700] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.45sWARNobjective_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 + 1.45sINFOros2-6process has finished cleanly [pid 7228] ×2 + 1.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.46sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.46sINFOforce_torque_sensor_broadcasterconfigure successful + 1.46sINFOros2_control_nodeconfigure successful[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.90sINFOros2-2process has finished cleanly [pid 7224] ×2 + 1.94sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.94sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.97sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.97sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.97sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.97sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.00sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 2.00sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 2.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 2.36sINFOros2-8process has finished cleanly [pid 7230] ×2 + 2.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.38sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.69sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.69sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.69sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.69sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.69sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 2.69sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 2.70sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.71sINFOros2-4process has finished cleanly [pid 7226] ×2 + 2.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.72sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 2.74sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.74sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.83sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.83sINFOobjective_server_nodecaller: ×14 + 2.83sINFOobjective_server_nodetype: 0 ×14 + 2.83sINFOobjective_server_nodename: "" ×14 + 2.83sINFOobjective_server_nodeinstance_id: "" ×14 + 2.83sINFOobjective_server_node ×14 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.07sINFOros2-3process has finished cleanly [pid 7225] ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 4.04sWARNros2_control_nodeCamera render tick took 1.85 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 + 4.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 6.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 7.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.24sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 7.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.81sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.02sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 8.02sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 27 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 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 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1789664973.00408077 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.19sINFOobjective_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 + 5.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664977.18131280 seconds ×3 + 7.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2). | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.8s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 0.94sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 0.94sERRORobjective_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: 1789664973.00408077 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.49sINFOobjective_server_nodecaller: ×8 + 1.49sINFOobjective_server_nodetype: 0 ×8 + 1.49sINFOobjective_server_nodename: "" ×8 + 1.49sINFOobjective_server_nodeinstance_id: "" ×8 + 1.49sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.92sINFOobjective_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 + 2.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664977.18131280 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2).[0m ×2 + 7.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.952096 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.952096 ms (missed cycles : 8).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789664792.02574873 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789664792.69134903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789664792.76147318 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:05:43.315] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:05:43.315] [info] Accepted new action goal ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402403 ms (missed cycles : 2). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402403 ms (missed cycles : 2).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.48sINFOobjective_server_nodecaller: ×4 + 3.48sINFOobjective_server_nodetype: 0 ×4 + 3.48sINFOobjective_server_nodename: "" ×4 + 3.48sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.42sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1789664961.00361776 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_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: 1789664734.50202560 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 5.35sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 31 warnings · 514 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.91sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 7226] ×2 + 1.27sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 1.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.62sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sERRORobjective_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: 1789664961.00361776 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.54sINFOobjective_server_nodecaller: ×6 + 2.54sINFOobjective_server_nodetype: 0 ×6 + 2.54sINFOobjective_server_nodename: "" ×6 + 2.54sINFOobjective_server_nodeinstance_id: "" ×6 + 2.54sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.94sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 0.94sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 0.94sERRORobjective_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: 1789664973.00408077 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.49sINFOobjective_server_nodecaller: ×8 + 1.49sINFOobjective_server_nodetype: 0 ×8 + 1.49sINFOobjective_server_nodename: "" ×8 + 1.49sINFOobjective_server_nodeinstance_id: "" ×8 + 1.49sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.92sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.92sINFOobjective_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 + 2.92sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.92sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.65sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789664977.18131280 seconds ×3 + 5.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064487 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823846 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2314 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 22 warnings · 121 info |
+ 0.00sWARNros2_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 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[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 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_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: 1789664734.50202560 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 5.35sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934598 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sERRORobjective_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: 1789664734.50202560 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 5.35sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_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 + 1.55sERRORobjective_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: 1789664734.50202560 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_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 + 1.55sERRORobjective_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: 1789664734.50202560 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_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 + 1.55sERRORobjective_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: 1789664734.50202560 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149381 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427890 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_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 + 1.55sERRORobjective_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: 1789664734.50202560 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.16sINFOobjective_server_nodecaller: ×4 + 2.16sINFOobjective_server_nodetype: 0 ×4 + 2.16sINFOobjective_server_nodename: "" ×4 + 2.16sINFOobjective_server_nodeinstance_id: "" ×4 + 2.16sINFOobjective_server_node ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074070 ms (missed cycles : 5).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789664735.16906548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789664735.24920607 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789664735.89837813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (6.97e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-17 17:05:36.122] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900769 ms (missed cycles : 3).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405840 ms (missed cycles : 5).[0m ×2 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610332 ms (missed cycles : 2).[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 (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[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 (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[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 (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[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 (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.993861 ms (missed cycles : 5).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Received new action goal ×2 + 1.05sINFOros2_control_node[2026-09-17 17:05:44.956] [info] Accepted new action goal ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886203 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789664746.25262880 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789664746.87800646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366006 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789664746.95812893 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789664747.60549235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-09-17 17:05:47.732] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898845 ms (missed cycles : 4).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525015 ms (missed cycles : 3).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668447 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 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 · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 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 · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365008 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.63sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-09-17 17:05:55.777] [info] Accepted new action goal ×2 + 0.85sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176189 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887307 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1789664758.00561500 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949371 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789664758.63950467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-17 17:05:58.833] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770158 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.661237 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533141 ms (missed cycles : 2).[0m ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×4 + 0.07sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.07sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.21sINFOobjective_server_nodeFound path in 1 iterations (0.00338584 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:06:18.439] [info] Accepted new action goal ×2 + 0.89sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Received new action goal ×2 + 0.89sINFOros2_control_node[2026-09-17 17:06:18.871] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333711 ms (missed cycles : 5).[0m ×2 + 1.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845724 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_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 + 2.12sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-09-17 17:06:20.103] [info] Canceling active goal... ×2 + 2.13sERRORobjective_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: 1789664780.11191893 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.67sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 2.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.67sINFOobjective_server_nodecaller: ×2 + 2.67sINFOobjective_server_nodetype: 0 ×2 + 2.67sINFOobjective_server_nodename: "" ×2 + 2.67sINFOobjective_server_nodeinstance_id: "" ×2 + 2.67sINFOobjective_server_node ×2 + 2.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789664780.76271510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 2.95sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Received new action goal ×2 + 2.95sINFOros2_control_node[2026-09-17 17:06:20.936] [info] Accepted new action goal ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309258 ms (missed cycles : 2).[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682151 ms (missed cycles : 5).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956855 ms (missed cycles : 2).[0m ×2 + 5.47sINFOros2_control_node[2026-09-17 17:06:23.455] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-09-17 17:06:23.455] [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 12.952096 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.952096 ms (missed cycles : 8).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970235 ms (missed cycles : 2).[0m ×2 + 1.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.996159 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789664792.02574873 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333114 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.26sINFOobjective_server_nodeinstance_id: "" ×4 + 3.26sINFOobjective_server_node ×4 + 3.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789664792.69134903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789664792.76147318 seconds ×3 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 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: 1789664793.35938263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:06:33.484] [info] Accepted new action goal ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126388 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.736508 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789664795.48950434 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702954 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842805 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789664797.12352014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_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 + 3.91sINFOobjective_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 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-17 17:06:37.551] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290219 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_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 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.585657 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519248 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431815 ms (missed cycles : 5).[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.011009 ms (missed cycles : 7).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789664850.97343993 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_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 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789664851.56866193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.64sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-17 17:07:31.732] [info] Accepted new action goal ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.733444 ms (missed cycles : 5).[0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281248 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269470 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2314 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2314 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2314 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2314 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×742 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528359 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990067 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710039 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789664917.60056686 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.36sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789664918.29984474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:08:38.503] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813016 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938623 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289502 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[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 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[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 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[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 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:08:45.229] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608541 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-17 17:08:46.873] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308074 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789664928.17001081 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249582 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789664929.18750691 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:08:49.311] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692276 ms (missed cycles : 2).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259266 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238846 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768318 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000104 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262945 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675869 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sERRORobjective_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: 1789664939.50799489 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.78sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.78sINFOobjective_server_nodecaller: ×2 + 3.78sINFOobjective_server_nodetype: 0 ×2 + 3.78sINFOobjective_server_nodename: "" ×2 + 3.78sINFOobjective_server_nodeinstance_id: "" ×2 + 3.78sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789664940.10109520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.13sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-17 17:09:00.400] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319116 ms (missed cycles : 5).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790429 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266348 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964258 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710795 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841898 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789664949.99430537 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447602 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.43sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789664950.64326644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.56sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 3.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.57sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Received new action goal ×2 + 3.57sINFOros2_control_node[2026-09-17 17:09:10.777] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859394 ms (missed cycles : 3).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134301 ms (missed cycles : 5).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1789664961.00361776 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1789664961.00361776 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1789664961.00361776 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201548 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.98sERRORobjective_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: 1789664961.00361776 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.55sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.55sINFOobjective_server_nodecaller: ×6 + 3.55sINFOobjective_server_nodetype: 0 ×6 + 3.55sINFOobjective_server_nodename: "" ×6 + 3.55sINFOobjective_server_nodeinstance_id: "" ×6 + 3.55sINFOobjective_server_node ×6 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.93sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 5.04sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sERRORobjective_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: 1789664961.00361776 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.54sINFOobjective_server_nodecaller: ×6 + 2.54sINFOobjective_server_nodetype: 0 ×6 + 2.54sINFOobjective_server_nodename: "" ×6 + 2.54sINFOobjective_server_nodeinstance_id: "" ×6 + 2.54sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sERRORobjective_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: 1789664961.00361776 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.54sINFOobjective_server_nodecaller: ×6 + 2.54sINFOobjective_server_nodetype: 0 ×6 + 2.54sINFOobjective_server_nodename: "" ×6 + 2.54sINFOobjective_server_nodeinstance_id: "" ×6 + 2.54sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188291 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378189 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sERRORobjective_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: 1789664961.00361776 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596797 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.54sINFOobjective_server_nodecaller: ×6 + 2.54sINFOobjective_server_nodetype: 0 ×6 + 2.54sINFOobjective_server_nodename: "" ×6 + 2.54sINFOobjective_server_nodeinstance_id: "" ×6 + 2.54sINFOobjective_server_node ×6 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789664961.63389826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789664961.70402312 seconds ×3 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519556 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789664962.29546428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789664962.31776500 seconds ×3 + 3.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.85sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789664962.94981956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:09:23.063] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070397 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164007 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051589 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 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 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1789664973.00408077 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.19sINFOobjective_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 + 5.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026778 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987280 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699509 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 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Got request to cancel active goal. ×2 + 3.21sINFOros2_control_node[2026-09-17 17:09:33.000] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1789664973.00408077 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733195 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.76sINFOobjective_server_nodecaller: ×8 + 3.76sINFOobjective_server_nodetype: 0 ×8 + 3.76sINFOobjective_server_nodename: "" ×8 + 3.76sINFOobjective_server_nodeinstance_id: "" ×8 + 3.76sINFOobjective_server_node ×8 + 3.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789664973.60578060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690007 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789664974.39589572 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789664974.98560834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.19sINFOobjective_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 + 5.20sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.20sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789664974.98752284 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737635 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789664975.71299028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789664975.76401567 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.216815 ms (missed cycles : 6).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789664976.36117578 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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 45 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/2026-09-17-17-05-01-390052-fa2c9fff5916-7175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828765 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [7223] ×2 + 0.77sINFOmove_group-9process started with pid [7242] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7243] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7244] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7245] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7246] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7247] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7248] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7249] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7250] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7251] ×2 + 0.79sINFOweb_bridge-19process started with pid [7252] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7348] ×2 + 0.79sINFOvideo_server-21process started with pid [7349] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7350] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7351] ×2 + 0.79sINFOros2-2process started with pid [7224] ×2 + 0.79sINFOros2-3process started with pid [7225] ×2 + 0.79sINFOros2-4process started with pid [7226] ×2 + 0.79sINFOros2-5process started with pid [7227] ×2 + 0.79sINFOros2-6process started with pid [7228] ×2 + 0.79sINFOros2-7process started with pid [7229] ×2 + 0.79sINFOros2-8process started with pid [7230] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828765 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF configuration loaded from /tmp/moveit-webrtc-l_ddxpg2/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.51sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-17 17:05:03.606] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.95sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.95sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277758 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277758 ms (missed cycles : 2).[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOwaypoint_manager_node[2026-09-17 17:05:04.022] [moveit_pro_license] [info] ×2 + 2.26sINFOwaypoint_manager_node************************************************* ×4 + 2.26sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOobjective_server_node[2026-09-17 17:05:05.361] [moveit_pro_license] [info] ×2 + 3.60sINFOobjective_server_node************************************************* ×4 + 3.60sINFOobjective_server_node* MoveIt Pro License ×2 + 3.60sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.72sINFOobjective_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 + 3.72sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.73sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.73sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.73sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.84sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.84sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.84sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.84sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.84sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.84sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.84sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.94sINFOcomponent_container_mt[2026-09-17 17:05:05.703] [moveit_pro_license] [info] ×2 + 3.94sINFOcomponent_container_mt************************************************* ×4 + 3.94sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.97sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.97sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.14sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 4.14sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 4.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.18sINFOros2_control_node[2026-09-17 17:05:05.948] [info] Controller state will be published at 10 Hz. ×2 + 4.18sINFOros2_control_node[2026-09-17 17:05:05.950] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899020 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899020 ms (missed cycles : 2).[0m ×2 + 4.36sINFOros2_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 + 4.36sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.36sWARNros2_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 + 4.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 4.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 4.46sINFOros2-7process has finished cleanly [pid 7229] ×2 + 4.51sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.51sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.52sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.53sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.53sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.79sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.79sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.79sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.82sINFOros2-5process has finished cleanly [pid 7227] ×2 + 4.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 4.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 4.90sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.90sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.90sINFOros2_control_node[2026-09-17 17:05:06.669] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.90sINFOros2_control_node[2026-09-17 17:05:06.669] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.93sINFOros2_control_node[2026-09-17 17:05:06.695] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.93sINFOros2_control_node[2026-09-17 17:05:06.695] [info] Controller state will be published at 50 Hz. ×2 + 4.93sINFOros2_control_node[2026-09-17 17:05:06.700] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.26sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.26sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.26sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 5.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 5.28sWARNobjective_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 + 5.28sINFOros2-6process has finished cleanly [pid 7228] ×2 + 5.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.29sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.30sINFOforce_torque_sensor_broadcasterconfigure successful + 5.30sINFOros2_control_nodeconfigure successful[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 5.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.74sINFOros2-2process has finished cleanly [pid 7224] ×2 + 5.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 5.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 5.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.90sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.02sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.17sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.17sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.17sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 6.18sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 6.20sINFOros2-8process has finished cleanly [pid 7230] ×2 + 6.21sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.21sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.21sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.21sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.21sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.21sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.22sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.22sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.52sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.52sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.53sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.53sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.53sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 6.53sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 6.54sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.55sINFOros2-4process has finished cleanly [pid 7226] ×2 + 6.56sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.56sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.56sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.56sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.56sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 6.57sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.57sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.67sINFOobjective_server_nodecaller: ×10 + 6.67sINFOobjective_server_nodetype: 0 ×10 + 6.67sINFOobjective_server_nodename: "" ×10 + 6.67sINFOobjective_server_nodeinstance_id: "" ×10 + 6.67sINFOobjective_server_node ×10 + 6.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 6.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.91sINFOros2-3process has finished cleanly [pid 7225] ×2 + 7.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 7.88sWARNros2_control_nodeCamera render tick took 1.85 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 + 8.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 8.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 9.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 10.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 10.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 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: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOros2-3process has finished cleanly [pid 7225] ×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 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 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 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[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: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 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 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 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: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 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 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 7.19sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 7.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.71sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 471 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.15sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.15sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.15sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.51sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7226] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.89sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 165 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/2026-09-17-17-05-01-390052-fa2c9fff5916-7175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.64sINFOcontroller_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. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828765 ms (missed cycles : 3). + 0.77sINFOros2_control_node-1process started with pid [7223] ×2 + 0.77sINFOmove_group-9process started with pid [7242] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7243] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7244] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7245] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7246] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7247] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7248] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7249] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7250] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7251] ×2 + 0.79sINFOweb_bridge-19process started with pid [7252] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7348] ×2 + 0.79sINFOvideo_server-21process started with pid [7349] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7350] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7351] ×2 + 0.79sINFOros2-2process started with pid [7224] ×2 + 0.79sINFOros2-3process started with pid [7225] ×2 + 0.79sINFOros2-4process started with pid [7226] ×2 + 0.79sINFOros2-5process started with pid [7227] ×2 + 0.79sINFOros2-6process started with pid [7228] ×2 + 0.79sINFOros2-7process started with pid [7229] ×2 + 0.79sINFOros2-8process started with pid [7230] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828765 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF configuration loaded from /tmp/moveit-webrtc-l_ddxpg2/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/17 17:05:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.51sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-17 17:05:03.606] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.95sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.95sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277758 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277758 ms (missed cycles : 2).[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOwaypoint_manager_node[2026-09-17 17:05:04.022] [moveit_pro_license] [info] ×2 + 2.26sINFOwaypoint_manager_node************************************************* ×4 + 2.26sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 2.37sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOobjective_server_node[2026-09-17 17:05:05.361] [moveit_pro_license] [info] ×2 + 3.60sINFOobjective_server_node************************************************* ×4 + 3.60sINFOobjective_server_node* MoveIt Pro License ×2 + 3.60sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 28 warnings · 514 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.91sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 7226] ×2 + 1.27sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 1.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.62sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 28 warnings · 514 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.91sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 7226] ×2 + 1.27sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 1.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.62sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 28 warnings · 514 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569957 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.45sINFOros2-2process has finished cleanly [pid 7224] ×2 + 0.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.601] [info] Controller state will be published at 20 Hz. ×2 + 0.54sINFOros2_control_node[2026-09-17 17:05:07.602] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.61sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.88sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.91sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 1.24sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 1.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 7226] ×2 + 1.27sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 1.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.38sINFOobjective_server_nodecaller: ×14 + 1.38sINFOobjective_server_nodetype: 0 ×14 + 1.38sINFOobjective_server_nodename: "" ×14 + 1.38sINFOobjective_server_nodeinstance_id: "" ×14 + 1.38sINFOobjective_server_node ×14 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.62sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 28 warnings · 471 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.15sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.15sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.15sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.16sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.18sINFOros2-8process has finished cleanly [pid 7230] ×2 + 0.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 + 0.51sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vy_99jbg --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_wudpnz8a --params-file /tmp/launch_params_wzyuswh6 [0m ×2 + 0.52sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.53sINFOros2-4process has finished cleanly [pid 7226] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789440 ms (missed cycles : 3).[0m ×2 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.65sINFOobjective_server_nodecaller: ×14 + 0.65sINFOobjective_server_nodetype: 0 ×14 + 0.65sINFOobjective_server_nodename: "" ×14 + 0.65sINFOobjective_server_nodeinstance_id: "" ×14 + 0.65sINFOobjective_server_node ×14 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.89sINFOros2-3process has finished cleanly [pid 7225] ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 1.86sWARNros2_control_nodeCamera render tick took 1.85 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 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: 1789664708.49220920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789664708.50238466 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.24sINFOros2-3process has finished cleanly [pid 7225] ×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 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789664709.09018803 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 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 1.21sWARNros2_control_nodeCamera render tick took 1.85 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[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: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 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 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 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: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.32sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 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 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
| − 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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×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 4.027113 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027113 ms (missed cycles : 3).[0m ×2 + 0.26sWARNros2_control_nodeCamera render tick took 1.85 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 + 0.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789664710.00033736 seconds ×3 + 0.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789664710.61548638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789664710.67563868 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.96sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789664711.33800340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789664711.35811472 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436120 ms (missed cycles : 5).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789664711.94822764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789664712.09883738 seconds ×3 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107830 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789664712.81020212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789664712.88032007 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.11sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789664713.48300099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937853 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (2.0968e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:05:13.621] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.175552 ms (missed cycles : 10).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198779 ms (missed cycles : 3).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (5.68e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Received new action goal ×2 + 6.77sINFOros2_control_node[2026-09-17 17:05:16.147] [info] Accepted new action goal ×2 | ||||