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 | 166 warnings · 18774 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3).[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789666439.22017860 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_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: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789666439.82790136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.89sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_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 + 5.16sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786652 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786652 ms (missed cycles : 2).[0m ×2 + 7.32sINFOjoint_trajectory_controllerReceived new action goal ×3085 + 7.32sINFOjoint_trajectory_controllerAccepted new action goal ×3085 + 7.32sINFOros2_control_nodeReceived new action goal[0m ×6170 + 7.32sINFOros2_control_nodeAccepted new action goal[0m ×6170 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923530 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923530 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006459 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006459 ms (missed cycles : 2).[0m ×2 + 10.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711036 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711036 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985067 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985067 ms (missed cycles : 2).[0m ×2 + 12.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.22sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.22sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862922 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862922 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676191 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676191 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737437 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737437 ms (missed cycles : 2).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830470 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830470 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937546 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937546 ms (missed cycles : 2).[0m ×2 + 17.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449302 ms (missed cycles : 3). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449302 ms (missed cycles : 3).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783252 ms (missed cycles : 2). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783252 ms (missed cycles : 2).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932819 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932819 ms (missed cycles : 2).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791751 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791751 ms (missed cycles : 2).[0m ×2 + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039077 ms (missed cycles : 2). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039077 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911227 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911227 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271252 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271252 ms (missed cycles : 2).[0m ×2 + 24.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688693 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688693 ms (missed cycles : 2).[0m ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323424 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323424 ms (missed cycles : 2).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589944 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589944 ms (missed cycles : 2).[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668769 ms (missed cycles : 2). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668769 ms (missed cycles : 2).[0m ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027564 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027564 ms (missed cycles : 2).[0m ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061844 ms (missed cycles : 2).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699923 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699923 ms (missed cycles : 2).[0m ×2 + 31.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 32.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045873 ms (missed cycles : 2). + 32.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045873 ms (missed cycles : 2).[0m ×2 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986455 ms (missed cycles : 4). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986455 ms (missed cycles : 4).[0m ×2 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737042 ms (missed cycles : 2). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737042 ms (missed cycles : 2).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129433 ms (missed cycles : 4). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129433 ms (missed cycles : 4).[0m ×2 + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678019 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678019 ms (missed cycles : 2).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712070 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712070 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891004 ms (missed cycles : 2). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891004 ms (missed cycles : 2).[0m ×2 + 39.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459817 ms (missed cycles : 2). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459817 ms (missed cycles : 2).[0m ×2 + 40.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713182 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713182 ms (missed cycles : 2).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714113 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714113 ms (missed cycles : 2).[0m ×2 + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239966 ms (missed cycles : 2). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239966 ms (missed cycles : 2).[0m ×2 + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854642 ms (missed cycles : 3). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854642 ms (missed cycles : 3).[0m ×2 + 44.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942541 ms (missed cycles : 3). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942541 ms (missed cycles : 3).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780866 ms (missed cycles : 2). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780866 ms (missed cycles : 2).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002336 ms (missed cycles : 2). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002336 ms (missed cycles : 2).[0m ×2 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680332 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680332 ms (missed cycles : 2).[0m ×2 + 47.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666483.72414851 seconds ×3 + 47.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOobjective_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: ""
+ 48.16sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789666484.36538291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.39sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 48.40sINFOros2_control_node[2026-09-17 17:34:44.509] [info] Received new action goal ×2 + 48.40sINFOros2_control_node[2026-09-17 17:34:44.509] [info] Accepted new action goal ×2 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535203 ms (missed cycles : 5). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535203 ms (missed cycles : 5).[0m ×2 + 49.47sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 49.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175399 ms (missed cycles : 6). + 49.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175399 ms (missed cycles : 6).[0m ×2 + 50.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825064 ms (missed cycles : 2). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825064 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.0s | 151 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 7.10sINFOros2_control_node[2026-09-17 17:33:09.518] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-17 17:33:09.518] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750055 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750055 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274469 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274469 ms (missed cycles : 4).[0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333951 ms (missed cycles : 7). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.333951 ms (missed cycles : 7).[0m ×2 + 10.23sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.25sINFOros2_control_node[2026-09-17 17:33:12.668] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-09-17 17:33:12.668] [info] Accepted new action goal ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963721 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963721 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986436 ms (missed cycles : 6). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986436 ms (missed cycles : 6).[0m ×2 + 12.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868411 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868411 ms (missed cycles : 3).[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.28sINFOros2_control_node[2026-09-17 17:33:15.690] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-09-17 17:33:15.690] [info] Accepted new action goal ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159444 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159444 ms (missed cycles : 3).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825653 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825653 ms (missed cycles : 2).[0m ×2 + 16.24sINFOobjective_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 + 16.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154925 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154925 ms (missed cycles : 2).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178275 ms (missed cycles : 5). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.178275 ms (missed cycles : 5).[0m ×2 + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850276 ms (missed cycles : 5). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850276 ms (missed cycles : 5).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928196 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928196 ms (missed cycles : 2).[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899885 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899885 ms (missed cycles : 3).[0m ×2 + 21.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692709 ms (missed cycles : 3). + 21.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.692709 ms (missed cycles : 3).[0m ×2 + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914875 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.914875 ms (missed cycles : 3).[0m ×2 + 23.01sINFOobjective_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 + 23.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.01sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986161 ms (missed cycles : 3). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986161 ms (missed cycles : 3).[0m ×2 + 23.97sINFOros2_control_node[2026-09-17 17:33:26.381] [info] Received new action goal ×2 + 23.97sINFOros2_control_node[2026-09-17 17:33:26.381] [info] Accepted new action goal ×2 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716485 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716485 ms (missed cycles : 2).[0m ×2 + 25.13sINFOobjective_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 + 25.14sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.42sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 25.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.46sINFOros2_control_node[2026-09-17 17:33:27.874] [info] Received new action goal ×2 + 25.46sINFOros2_control_node[2026-09-17 17:33:27.874] [info] Accepted new action goal ×2 + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582039 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582039 ms (missed cycles : 3).[0m ×2 + 25.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242026 ms (missed cycles : 5). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.242026 ms (missed cycles : 5).[0m ×2 + 27.58sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 27.58sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.60sINFOros2_control_node[2026-09-17 17:33:30.012] [info] Received new action goal ×2 + 27.60sINFOros2_control_node[2026-09-17 17:33:30.012] [info] Accepted new action goal ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231076 ms (missed cycles : 3). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231076 ms (missed cycles : 3).[0m ×2 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776030 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776030 ms (missed cycles : 2).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490941 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490941 ms (missed cycles : 2).[0m ×2 + 30.61sINFOros2_control_node[2026-09-17 17:33:33.021] [info] Received new action goal ×2 + 30.61sINFOros2_control_node[2026-09-17 17:33:33.021] [info] Accepted new action goal ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713189 ms (missed cycles : 6). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713189 ms (missed cycles : 6).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764707 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764707 ms (missed cycles : 2).[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895372 ms (missed cycles : 2). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895372 ms (missed cycles : 2).[0m ×2 + 33.20sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 33.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.25sINFOros2_control_node[2026-09-17 17:33:35.665] [info] Received new action goal ×2 + 33.25sINFOros2_control_node[2026-09-17 17:33:35.665] [info] Accepted new action goal ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326434 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326434 ms (missed cycles : 2).[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615820 ms (missed cycles : 5). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.615820 ms (missed cycles : 5).[0m ×2 + 36.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381265 ms (missed cycles : 3). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381265 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039102 ms (missed cycles : 5). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039102 ms (missed cycles : 5).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394226 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394226 ms (missed cycles : 2).[0m ×2 + 38.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414153 ms (missed cycles : 2). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414153 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487931 ms (missed cycles : 4). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487931 ms (missed cycles : 4).[0m ×2 + 41.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762775 ms (missed cycles : 3). + 41.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762775 ms (missed cycles : 3).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621174 ms (missed cycles : 4). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621174 ms (missed cycles : 4).[0m ×2 + 43.16sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556710 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556710 ms (missed cycles : 2).[0m ×2 + 44.02sINFOros2_control_node[2026-09-17 17:33:46.434] [info] Received new action goal ×2 + 44.02sINFOros2_control_node[2026-09-17 17:33:46.434] [info] Accepted new action goal ×2 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2).[0m ×2 + 45.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789666427.58985019 seconds ×3 + 45.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.77sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789666428.38800907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258428 ms (missed cycles : 2). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258428 ms (missed cycles : 2).[0m ×2 + 46.99sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 47.01sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.03sINFOros2_control_node[2026-09-17 17:33:49.443] [info] Received new action goal ×2 + 47.03sINFOros2_control_node[2026-09-17 17:33:49.443] [info] Accepted new action goal ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080017 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080017 ms (missed cycles : 3).[0m ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761316 ms (missed cycles : 6). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761316 ms (missed cycles : 6).[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 | 92 warnings · 13332 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2189 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2189 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4378 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4378 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942541 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942541 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780866 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780866 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002336 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002336 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680332 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680332 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666483.72414851 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789666484.36538291 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 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_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 (3.89e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.07sINFOros2_control_node[2026-09-17 17:34:44.509] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-17 17:34:44.509] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535203 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535203 ms (missed cycles : 5).[0m ×2 + 5.14sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175399 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175399 ms (missed cycles : 6).[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_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 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825064 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825064 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976451 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976451 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660486 ms (missed cycles : 6). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660486 ms (missed cycles : 6).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951821 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951821 ms (missed cycles : 2).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908905 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908905 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733262 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733262 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.291584 ms (missed cycles : 7). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.291584 ms (missed cycles : 7).[0m ×2 + 12.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889329 ms (missed cycles : 3). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889329 ms (missed cycles : 3).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488995 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488995 ms (missed cycles : 3).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155549 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155549 ms (missed cycles : 2).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794779 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794779 ms (missed cycles : 3).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561358 ms (missed cycles : 2). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561358 ms (missed cycles : 2).[0m ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680288 ms (missed cycles : 2). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680288 ms (missed cycles : 2).[0m ×2 + 19.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041213 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041213 ms (missed cycles : 2).[0m ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926449 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926449 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 25.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 26.05sINFOobjective_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: ""
+ 26.05sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.33sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 26.34sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.35sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 26.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 27.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 28.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5).[0m ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (1.73e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 1 iterations (0.00392394 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.71sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2).[0m ×2 + 1.14sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2).[0m ×2 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.20sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666369.09308457 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 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.91sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.91sINFOobjective_server_nodecaller: ×6 + 3.91sINFOobjective_server_nodetype: 0 ×6 + 3.91sINFOobjective_server_nodename: "" ×6 + 3.91sINFOobjective_server_nodeinstance_id: "" ×6 + 3.91sINFOobjective_server_node ×6 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789666369.92450666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2).[0m ×2 + 5.09sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5).[0m ×2 + 6.68sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616492 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616492 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816251 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816251 ms (missed cycles : 3).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.777902 ms (missed cycles : 6). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.777902 ms (missed cycles : 6).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644095 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644095 ms (missed cycles : 3).[0m ×2 + 11.12sWARNros2_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 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287157 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287157 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2).[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789666381.13790441 seconds ×3 + 15.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.86sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789666381.80104637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789666381.86117363 seconds ×3 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3).[0m ×2 + 16.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.53sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.70sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 16.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.71sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 16.71sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 17.25sWARNros2_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 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 18.72sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621174 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621174 ms (missed cycles : 4).[0m ×2 + 0.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.43sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556710 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556710 ms (missed cycles : 2).[0m ×2 + 1.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.34sINFOros2_control_node[2026-09-17 17:33:46.434] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-17 17:33:46.434] [info] Accepted new action goal ×2 + 2.04sWARNros2_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 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391052 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789666427.58985019 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789666428.38800907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258428 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258428 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.35sINFOros2_control_node[2026-09-17 17:33:49.443] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-09-17 17:33:49.443] [info] Accepted new action goal ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080017 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080017 ms (missed cycles : 3).[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761316 ms (missed cycles : 6). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.761316 ms (missed cycles : 6).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110280 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110280 ms (missed cycles : 2).[0m ×2 + 7.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913696 ms (missed cycles : 2). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913696 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_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 + 8.05sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.05sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.05sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.05sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458013 ms (missed cycles : 4). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458013 ms (missed cycles : 4).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570391 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570391 ms (missed cycles : 4).[0m ×2 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 10.50sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.52sINFOros2_control_node[2026-09-17 17:33:55.615] [info] Received new action goal ×2 + 10.52sINFOros2_control_node[2026-09-17 17:33:55.615] [info] Accepted new action goal ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3).[0m ×2 + 13.97sWARNros2_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 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5).[0m ×2 + 14.12sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789666439.22017860 seconds ×3 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789666439.82790136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 14.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 14.91sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Received new action goal ×2 + 14.91sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2).[0m ×2 + 16.17sINFOobjective_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 + 16.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 57 errors · 40 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-17 17:36:01.582] [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: 1789666561.58738208 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 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[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: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.37sINFOobjective_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 + 2.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.98sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.65sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666565.22911501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666566.43926191 seconds ×3 + 4.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2).[0m ×2 + 6.35sWARNros2_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 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445623 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445623 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553696 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553696 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017179 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017179 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622358 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622358 ms (missed cycles : 2).[0m ×2 + 10.62sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.65sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.66sERRORweb_video_auth_proxy-23process has died [pid 7440, 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 + 10.66sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.66sERRORweb_bridge_auth_proxy-22process has died [pid 7439, 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 + 10.67sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.67sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.68sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.68sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.69sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.69sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.70sINFOvideo_server-21process has finished cleanly [pid 7438] ×2 + 10.70sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.71sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.71sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.72sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.72sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.73sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731056 ms (missed cycles : 2). + 10.74sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.74sINFOcontroller_managerShutdown request received.... + 10.74sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.74sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.74sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.74sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.74sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.74sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.74sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.74sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.74sINFOvideo_server2026/09/17 17:36:12 INF shutting down gracefully ×2 + 10.74sINFOvideo_server2026/09/17 17:36:12 INF [WebRTC] closing ×2 + 10.74sINFOvideo_server2026/09/17 17:36:12 INF [RTSP] closing ×2 + 10.74sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.74sINFOvideo_server2026/09/17 17:36:12 INF waiting for running hooks ×2 + 10.74sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.74sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.74sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.74sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.74sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOcontroller_managerShutting down the controller manager. + 10.74sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.74sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.74sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.74sERRORmove_groupStack trace (most recent call last) in thread 7789: ×2 + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731056 ms (missed cycles : 2).[0m ×2 + 10.74sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.74sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.74sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.74sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.74sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.74sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.74sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.74sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff6bd80ba63, in __clone ×2 + 10.74sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff6bd77eaa3, in ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.75sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.75sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.75sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.75sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.75sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.75sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.75sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff6bda10db3, in ×2 + 10.75sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.75sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ff6be174b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.75sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff6bdda2620, in rclcpp::Rate::sleep() ×2 + 10.75sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff6bdce4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.75sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff6bdca6087, in ×2 + 10.75sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff6bd9df390, in __cxa_throw ×2 + 10.75sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff6bd9c9a54, in std::terminate() ×2 + 10.75sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff6bd9df0d9, in ×2 + 10.75sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff6bd9c9ff4, in ×2 + 10.75sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff6bd70a8fe, in abort ×2 + 10.75sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff6bd72727d, in raise ×2 + 10.75sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff6bd780b2c, in pthread_kill ×2 + 10.75sERRORmove_groupAborted (Signal sent by tkill() 7349 0) ×2 + 10.76sERRORmove_group-9process has died [pid 7349, 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_kengp0bi --params-file /tmp/launch_params_8f3hwjv1 --params-file /tmp/launch_params_4cmf9pfx --params-file /tmp/launch_params_4fxhtcjn --params-file /tmp/launch_params_rmlxqm61 --params-file /tmp/launch_params_g1h1taz9']. ×2 + 10.94sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.94sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.94sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.72sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7430] ×2 + 11.72sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.75sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7353] ×2 + 11.75sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7352] ×2 + 11.78sINFOui_teleop_bridge-18process has finished cleanly [pid 7358] ×2 + 11.79sINFOexecute_objective_bridge-17process has finished cleanly [pid 7357] ×2 + 11.79sINFOparameter_manager_node-10process has finished cleanly [pid 7350] ×2 + 11.80sINFOwaypoint_manager_node-11process has finished cleanly [pid 7351] ×2 + 11.85sINFOobjective_server_node[0;m[2026-09-17 17:36:13.426] [moveit_pro_license] [critical] ×2 + 11.85sINFOobjective_server_node************************************************* ×4 + 11.85sINFOobjective_server_node* MoveIt Pro License ×2 + 11.85sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.86sINFOcomponent_container_mt-16process has finished cleanly [pid 7356] ×2 + 12.03sINFOobjective_server_node_main-14process has finished cleanly [pid 7354] ×2 + 12.03sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.78sINFOweb_bridge-19process has finished cleanly [pid 7359] ×2 + 12.78sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.88sINFOcomponent_container_mt-15process has finished cleanly [pid 7355] ×2 + 13.38sINFOros2_control_node-1process has finished cleanly [pid 7312] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.2s | 3 errors · 52 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sERRORobjective_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: 1789666323.68514752 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.00sINFOobjective_server_nodecaller: ×8 + 2.00sINFOobjective_server_nodetype: 0 ×8 + 2.00sINFOobjective_server_nodename: "" ×8 + 2.00sINFOobjective_server_nodeinstance_id: "" ×8 + 2.00sINFOobjective_server_node ×8 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545174 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545174 ms (missed cycles : 3).[0m ×2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.70sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581030 ms (missed cycles : 6). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.581030 ms (missed cycles : 6).[0m ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 1 iterations (0.00401185 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.06sINFOros2_control_node[2026-09-17 17:32:10.369] [info] Received new action goal ×2 + 8.06sINFOros2_control_node[2026-09-17 17:32:10.369] [info] Accepted new action goal ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869093 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869093 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215123 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215123 ms (missed cycles : 2).[0m ×2 + 10.37sINFOros2_control_node[2026-09-17 17:32:12.671] [info] Received new action goal ×2 + 10.37sINFOros2_control_node[2026-09-17 17:32:12.671] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 11.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 12.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.04sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 12.04sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 13.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 14.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 14.82sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.83sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 63 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_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 + 1.88sERRORobjective_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: 1789666549.07886648 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.45sINFOobjective_server_nodecaller: ×12 + 2.45sINFOobjective_server_nodetype: 0 ×12 + 2.45sINFOobjective_server_nodename: "" ×12 + 2.45sINFOobjective_server_nodeinstance_id: "" ×12 + 2.45sINFOobjective_server_node ×12 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5).[0m ×2 + 7.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669798 ms (missed cycles : 5). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669798 ms (missed cycles : 5).[0m ×2 + 7.34sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.35sINFOros2_control_node[2026-09-17 17:35:54.546] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-09-17 17:35:54.546] [info] Accepted new action goal ×2 + 7.35sINFOros2_control_node[2026-09-17 17:35:54.546] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443711 ms (missed cycles : 6). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443711 ms (missed cycles : 6).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343645 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343645 ms (missed cycles : 4).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820483 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820483 ms (missed cycles : 5).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 13.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.38sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 14.38sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 14.39sERRORobjective_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: 1789666561.58738208 seconds ×3 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 14.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.93sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 16.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 16.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.69sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 17.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.36sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784392 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784392 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226246 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226246 ms (missed cycles : 2).[0m ×2 + 1.68sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.95sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.95sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789666357.09858418 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305604 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305604 ms (missed cycles : 3).[0m ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNros2_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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953382 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953382 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789666358.69858122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-09-17 17:32:38.912] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-17 17:32:38.912] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559007 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559007 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086830 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086830 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248016 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248016 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.39sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844957 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844957 ms (missed cycles : 5).[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×4 + 7.72sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 5 iterations (0.00658828 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226225 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.226225 ms (missed cycles : 5).[0m ×2 + 8.56sINFOros2_control_node[2026-09-17 17:32:43.676] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-09-17 17:32:43.676] [info] Accepted new action goal ×2 + 9.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033356 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033356 ms (missed cycles : 4).[0m ×2 + 10.46sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5).[0m ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 11.09sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.09sINFOobjective_server_nodeFound path in 0 iterations (1.73e-07 s). ×2 + 11.10sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). ×2 + 11.24sINFOobjective_server_nodeFound path in 1 iterations (0.00392394 s). ×2 + 11.41sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.48sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Received new action goal ×2 + 11.48sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Accepted new action goal ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2).[0m ×2 + 11.91sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Accepted new action goal ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6).[0m ×2 + 13.96sINFOobjective_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 + 13.96sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.96sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.96sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.98sERRORobjective_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: 1789666369.09308457 seconds ×3 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789666369.92450666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 14.94sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Accepted new action goal ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2).[0m ×2 + 15.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5).[0m ×2 + 17.45sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Received new action goal ×2 + 17.45sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789666538.09135675 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.97sINFOobjective_server_nodecaller: ×8 + 3.97sINFOobjective_server_nodetype: 0 ×8 + 3.97sINFOobjective_server_nodename: "" ×8 + 3.97sINFOobjective_server_nodeinstance_id: "" ×8 + 3.97sINFOobjective_server_node ×8 + 4.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789666538.74857330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921952 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921952 ms (missed cycles : 2).[0m ×2 + 7.19sWARNros2_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 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178693 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178693 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674884 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.674884 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243675 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243675 ms (missed cycles : 3).[0m ×2 + 10.87sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 13.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 14.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sERRORobjective_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: 1789666549.07886648 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 14.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.94sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 15.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.61sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOobjective_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 + 15.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 seconds ×3 + 16.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.33sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.50sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 16.50sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.51sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 16.51sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806030 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806030 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651020 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651020 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 1.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.63sINFOros2_control_node[2026-09-17 17:31:52.158] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-17 17:31:52.158] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321248 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321248 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_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 + 2.15sINFOros2_control_node[2026-09-17 17:31:52.683] [info] Got request to cancel active goal. ×2 + 2.15sINFOros2_control_node[2026-09-17 17:31:52.683] [info] Canceling active goal... ×2 + 2.17sERRORobjective_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: 1789666312.69956160 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789666313.31347299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.01sINFOros2_control_node[2026-09-17 17:31:53.538] [info] Received new action goal ×2 + 3.01sINFOros2_control_node[2026-09-17 17:31:53.538] [info] Accepted new action goal ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.508747 ms (missed cycles : 8). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.508747 ms (missed cycles : 8).[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325993 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325993 ms (missed cycles : 3).[0m ×2 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573331 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573331 ms (missed cycles : 4).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.30sINFOros2_control_node[2026-09-17 17:31:55.827] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-17 17:31:55.827] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.270321 ms (missed cycles : 8). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.270321 ms (missed cycles : 8).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949264 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949264 ms (missed cycles : 2).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780197 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780197 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303397 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303397 ms (missed cycles : 2).[0m ×2 + 10.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 13.15sERRORobjective_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: 1789666323.68514752 seconds ×3 + 13.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.78sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.83sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 14.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.75sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 16.66sWARNros2_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 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.94sINFOobjective_server_nodecaller: ×4 + 2.94sINFOobjective_server_nodetype: 0 ×4 + 2.94sINFOobjective_server_nodename: "" ×4 + 2.94sINFOobjective_server_nodeinstance_id: "" ×4 + 2.94sINFOobjective_server_node ×4 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739619 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739619 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981683 ms (missed cycles : 5). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981683 ms (missed cycles : 5).[0m ×2 + 8.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.63sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.64sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 5 iterations (0.00515002 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257335 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257335 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.81sINFOros2_control_node[2026-09-17 17:32:34.543] [info] Received new action goal ×2 + 9.81sINFOros2_control_node[2026-09-17 17:32:34.543] [info] Accepted new action goal ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784392 ms (missed cycles : 6). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.784392 ms (missed cycles : 6).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226246 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226246 ms (missed cycles : 2).[0m ×2 + 12.06sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.33sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.33sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789666357.09858418 seconds ×3 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305604 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305604 ms (missed cycles : 3).[0m ×2 + 13.41sWARNros2_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 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953382 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953382 ms (missed cycles : 4).[0m ×2 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.96sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789666358.69858122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 14.18sINFOros2_control_node[2026-09-17 17:32:38.912] [info] Received new action goal ×2 + 14.18sINFOros2_control_node[2026-09-17 17:32:38.912] [info] Accepted new action goal ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559007 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559007 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086830 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086830 ms (missed cycles : 2).[0m ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248016 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248016 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.91sINFOobjective_server_nodecaller: ×4 + 3.91sINFOobjective_server_nodetype: 0 ×4 + 3.91sINFOobjective_server_nodename: "" ×4 + 3.91sINFOobjective_server_nodeinstance_id: "" ×4 + 3.91sINFOobjective_server_node ×4 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079902 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079902 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402111 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402111 ms (missed cycles : 4).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872403 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.872403 ms (missed cycles : 4).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553211 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553211 ms (missed cycles : 5).[0m ×2 + 10.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3).[0m ×2 + 14.26sERRORobjective_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: 1789666527.58102036 seconds ×3 + 14.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.80sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789666528.18133187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.17sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2).[0m ×2 + 16.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_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 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.63sWARNros2_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 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 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: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.17sWARNros2_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 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.65sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.16sINFOros2_control_node[2026-09-17 17:31:45.157] [info] Received new action goal ×2 + 6.16sINFOros2_control_node[2026-09-17 17:31:45.158] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4).[0m ×2 + 6.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304291 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304291 ms (missed cycles : 4).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592270 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592270 ms (missed cycles : 4).[0m ×2 + 9.25sWARNros2_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 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178724 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178724 ms (missed cycles : 3).[0m ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 9.83sINFOros2_control_node[2026-09-17 17:31:48.828] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-09-17 17:31:48.828] [info] Accepted new action goal ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214354 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214354 ms (missed cycles : 4).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806030 ms (missed cycles : 4). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806030 ms (missed cycles : 4).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651020 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651020 ms (missed cycles : 2).[0m ×2 + 13.14sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 13.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.16sINFOros2_control_node[2026-09-17 17:31:52.158] [info] Received new action goal ×2 + 13.16sINFOros2_control_node[2026-09-17 17:31:52.158] [info] Accepted new action goal ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321248 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321248 ms (missed cycles : 2).[0m ×2 + 13.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.68sINFOros2_control_node[2026-09-17 17:31:52.683] [info] Got request to cancel active goal. ×2 + 13.68sINFOros2_control_node[2026-09-17 17:31:52.683] [info] Canceling active goal... ×2 + 13.70sERRORobjective_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: 1789666312.69956160 seconds ×3 + 13.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOobjective_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: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789666313.31347299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (4.65e-07 s). ×2 + 14.54sINFOros2_control_node[2026-09-17 17:31:53.538] [info] Received new action goal ×2 + 14.54sINFOros2_control_node[2026-09-17 17:31:53.538] [info] Accepted new action goal ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.508747 ms (missed cycles : 8). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.508747 ms (missed cycles : 8).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325993 ms (missed cycles : 3). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325993 ms (missed cycles : 3).[0m ×2 + 15.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573331 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.573331 ms (missed cycles : 4).[0m ×2 + 16.82sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 16.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.83sINFOros2_control_node[2026-09-17 17:31:55.827] [info] Received new action goal ×2 + 16.83sINFOros2_control_node[2026-09-17 17:31:55.827] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2242 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166224 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166224 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574912 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.574912 ms (missed cycles : 4).[0m ×2 + 8.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.76sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 9.04sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.18sINFOobjective_server_nodeFound path in 1 iterations (0.00358912 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.39sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.41sINFOros2_control_node[2026-09-17 17:35:11.967] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-09-17 17:35:11.967] [info] Accepted new action goal ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927392 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927392 ms (missed cycles : 2).[0m ×2 + 10.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 11.71sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 13.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.37sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 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 + 14.06sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 14.06sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 14.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 14.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.94sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 15.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 16.85sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.96sINFOobjective_server_nodecaller: ×6 + 2.96sINFOobjective_server_nodetype: 0 ×6 + 2.96sINFOobjective_server_nodename: "" ×6 + 2.96sINFOobjective_server_nodeinstance_id: "" ×6 + 2.96sINFOobjective_server_node ×6 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.28sINFOros2_control_node[2026-09-17 17:32:20.507] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-09-17 17:32:20.507] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.360673 ms (missed cycles : 7). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.360673 ms (missed cycles : 7).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507183 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507183 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895161 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895161 ms (missed cycles : 2).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (2.34e-07 s). ×2 + 9.62sINFOros2_control_node[2026-09-17 17:32:22.845] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-09-17 17:32:22.845] [info] Accepted new action goal ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639865 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.639865 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 11.97sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 11.97sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 12.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_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 + 13.86sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 13.87sERRORobjective_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: 1789666347.09626269 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.51sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.71sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1789666527.58102036 seconds ×3 + 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 + 3.34sINFOros2_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 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square 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: "Playback Square 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 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789666528.18133187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.23sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044229 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044229 ms (missed cycles : 2).[0m ×2 + 8.25sINFOros2_control_node[2026-09-17 17:35:32.506] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-09-17 17:35:32.506] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920909 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920909 ms (missed cycles : 2).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383129 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383129 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4).[0m ×2 + 11.67sWARNros2_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 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5).[0m ×2 + 13.83sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789666538.09135675 seconds ×3 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.49sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789666538.74857330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4).[0m ×2 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.62sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Accepted new action goal ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6).[0m ×2 + 16.53sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789666381.13790441 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.95sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.95sINFOobjective_server_nodecaller: ×6 + 2.95sINFOobjective_server_nodetype: 0 ×6 + 2.95sINFOobjective_server_nodename: "" ×6 + 2.95sINFOobjective_server_nodeinstance_id: "" ×6 + 2.95sINFOobjective_server_node ×6 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789666381.80104637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789666381.86117363 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 4.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 7.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.38sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.53sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.54sINFOobjective_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 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 7.86sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 10.47sWARNros2_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 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789666561.58738208 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 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 + 5.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 + 6.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666565.22911501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4).[0m ×2 + 7.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666566.43926191 seconds ×3 + 7.72sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 719 info |
+ 0.00sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.02sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.99sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.99sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.00sWARNros2_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 + 1.00sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 1.00sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 1.00sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 1.00sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 1.00sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 1.00sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 1.00sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 1.00sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.00sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 1.00sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 1.00sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.00sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 1.00sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.00sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.00sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.00sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.00sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.00sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.00sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.00sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.09sWARNobjective_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 + 1.10sINFOcomponent_container_mt[2026-09-17 17:31:35.660] [moveit_pro_license] [info] ×2 + 1.10sINFOcomponent_container_mt************************************************* ×4 + 1.10sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.10sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.12sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.12sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.12sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.12sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.12sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.12sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.13sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.13sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.13sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.13sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.13sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.13sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446150 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446150 ms (missed cycles : 4).[0m ×2 + 1.14sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.14sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.42sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.47sINFOros2-3process has finished cleanly [pid 7314] ×2 + 1.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.50sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.50sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.52sINFOros2_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 + 1.52sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.52sWARNros2_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 + 1.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.91sINFOros2-4process has finished cleanly [pid 7315] ×2 + 2.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.02sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.06sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.09sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 2.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.33sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.37sINFOros2-7process has finished cleanly [pid 7318] ×2 + 2.40sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.40sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.47sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 2.47sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.80sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.80sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.80sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.82sINFOros2-8process has finished cleanly [pid 7319] ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.84sINFOobjective_server_nodecaller: ×14 + 2.84sINFOobjective_server_nodetype: 0 ×14 + 2.84sINFOobjective_server_nodename: "" ×14 + 2.84sINFOobjective_server_nodeinstance_id: "" ×14 + 2.84sINFOobjective_server_node ×14 + 2.87sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.87sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 2.91sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.91sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.93sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.93sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.96sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.96sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 2.96sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 3.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 3.29sINFOros2-6process has finished cleanly [pid 7317] ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 3.31sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.31sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.31sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.31sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.32sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.32sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 3.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 3.73sINFOros2-5process has finished cleanly [pid 7316] ×2 + 3.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.77sINFOforce_torque_sensor_broadcasterconfigure successful + 3.77sINFOros2_control_nodeconfigure successful[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.09sINFOros2-2process has finished cleanly [pid 7313] ×2 + 4.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNros2_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 + 5.12sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 5.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 7.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 7.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.88sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.09sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 8.09sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[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 2.945531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789666381.13790441 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 ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789666381.80104637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789666381.86117363 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 4.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-17 17:32:12.671] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-17 17:32:12.671] [info] Accepted new action goal ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 1.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.47sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 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 5.111040 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 1.72sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789666549.07886648 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 0.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_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 + 0.76sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 0.76sERRORobjective_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: 1789666561.58738208 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.30sINFOobjective_server_nodecaller: ×8 + 1.30sINFOobjective_server_nodetype: 0 ×8 + 1.30sINFOobjective_server_nodename: "" ×8 + 1.30sINFOobjective_server_nodeinstance_id: "" ×8 + 1.30sINFOobjective_server_node ×8 + 1.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666565.22911501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666566.43926191 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2).[0m ×2 + 7.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445623 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445623 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 114 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1789666323.68514752 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_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 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 6.10sWARNros2_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 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 573 info |
+ 0.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOros2_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 + 0.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.03sWARNros2_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 + 0.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7315] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2-8process has finished cleanly [pid 7319] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×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: 1789666298.09043860 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 + 2.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.24sINFOros2-5process has finished cleanly [pid 7316] ×2 + 2.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.27sINFOforce_torque_sensor_broadcasterconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.60sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 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: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[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 1.821908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_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 + 1.88sERRORobjective_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: 1789666549.07886648 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.45sINFOobjective_server_nodecaller: ×6 + 2.45sINFOobjective_server_nodetype: 0 ×6 + 2.45sINFOobjective_server_nodename: "" ×6 + 2.45sINFOobjective_server_nodeinstance_id: "" ×6 + 2.45sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5).[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 4.234823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 0.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOobjective_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 + 0.76sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 0.76sERRORobjective_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: 1789666561.58738208 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.30sINFOobjective_server_nodecaller: ×8 + 1.30sINFOobjective_server_nodetype: 0 ×8 + 1.30sINFOobjective_server_nodename: "" ×8 + 1.30sINFOobjective_server_nodeinstance_id: "" ×8 + 1.30sINFOobjective_server_node ×8 + 1.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666565.22911501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706326 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666566.43926191 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921505 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1789666323.68514752 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_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 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 6.10sWARNros2_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 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 22 warnings · 114 info |
+ 0.00sWARNros2_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 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.965086 ms (missed cycles : 5).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_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 + 2.59sERRORobjective_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: 1789666323.68514752 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOobjective_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 + 3.27sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 6.10sWARNros2_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 | ||||
| − 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 10.539320 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sERRORobjective_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: 1789666323.68514752 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[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 10.539320 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sERRORobjective_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: 1789666323.68514752 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[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 10.539320 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sERRORobjective_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: 1789666323.68514752 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[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 10.539320 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.539320 ms (missed cycles : 7).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610897 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sERRORobjective_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: 1789666323.68514752 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.00sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.00sINFOobjective_server_nodecaller: ×4 + 2.00sINFOobjective_server_nodetype: 0 ×4 + 2.00sINFOobjective_server_nodename: "" ×4 + 2.00sINFOobjective_server_nodeinstance_id: "" ×4 + 2.00sINFOobjective_server_node ×4 + 2.06sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789666324.36479449 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789666324.44496441 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766591 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789666325.07996488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Received new action goal ×2 + 2.98sINFOros2_control_node[2026-09-17 17:32:05.283] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738809 ms (missed cycles : 2).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.380293 ms (missed cycles : 8).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.688698 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888300 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530247 ms (missed cycles : 4).[0m ×2 + 1.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Received new action goal ×2 + 1.12sINFOros2_control_node[2026-09-17 17:32:14.343] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766115 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789666335.64011765 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.96sINFOobjective_server_nodecaller: ×4 + 2.96sINFOobjective_server_nodetype: 0 ×4 + 2.96sINFOobjective_server_nodename: "" ×4 + 2.96sINFOobjective_server_nodeinstance_id: "" ×4 + 2.96sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789666336.26508522 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128512 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789666336.35520124 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789666337.00358844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-09-17 17:32:17.138] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304952 ms (missed cycles : 2).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101341 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783662 ms (missed cycles : 2).[0m ×2 + 6.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835356 ms (missed cycles : 6).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.45sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Received new action goal ×2 + 0.46sINFOros2_control_node[2026-09-17 17:32:25.195] [info] Accepted new action goal ×2 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478877 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_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 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Got request to cancel active goal. ×2 + 2.35sINFOros2_control_node[2026-09-17 17:32:27.084] [info] Canceling active goal... ×2 + 2.36sERRORobjective_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: 1789666347.09626269 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978543 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.94sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.94sINFOobjective_server_nodecaller: ×2 + 2.94sINFOobjective_server_nodetype: 0 ×2 + 2.94sINFOobjective_server_nodename: "" ×2 + 2.94sINFOobjective_server_nodeinstance_id: "" ×2 + 2.94sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789666347.73647213 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 3.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Received new action goal ×2 + 3.20sINFOros2_control_node[2026-09-17 17:32:27.930] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693303 ms (missed cycles : 3).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988415 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507412 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026044 ms (missed cycles : 5).[0m ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (1.73e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). ×2 + 0.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 1 iterations (0.00392394 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.71sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Received new action goal ×2 + 0.71sINFOros2_control_node[2026-09-17 17:32:46.594] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315121 ms (missed cycles : 2).[0m ×2 + 1.14sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-17 17:32:47.026] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896959 ms (missed cycles : 2).[0m ×2 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935613 ms (missed cycles : 6).[0m ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.20sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666369.09308457 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789666369.92450666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 17:32:50.050] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664835 ms (missed cycles : 2).[0m ×2 + 5.09sWARNros2_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 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125775 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879297 ms (missed cycles : 5).[0m ×2 + 6.68sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Received new action goal ×2 + 6.68sINFOros2_control_node[2026-09-17 17:32:52.566] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945531 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758172 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268500 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789666381.13790441 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 ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789666381.80104637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789666381.86117363 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582846 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 4.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 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 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789666382.47035027 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 (3.09e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-17 17:33:02.594] [info] Accepted new action goal ×2 + 0.72sWARNros2_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 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236227 ms (missed cycles : 4).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.311785 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789666384.60049367 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.609450 ms (missed cycles : 7).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_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 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789666386.24329400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.92sINFOobjective_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 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160920 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-17 17:33:06.651] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667345 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696639 ms (missed cycles : 6).[0m ×2 + 6.84sWARNros2_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 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226005 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559628 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619036 ms (missed cycles : 3).[0m ×2 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820083 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789666439.22017860 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOobjective_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: ""
+ 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.65sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.65sINFOobjective_server_nodecaller: ×2 + 3.65sINFOobjective_server_nodetype: 0 ×2 + 3.65sINFOobjective_server_nodename: "" ×2 + 3.65sINFOobjective_server_nodeinstance_id: "" ×2 + 3.65sINFOobjective_server_node ×2 + 3.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789666439.82790136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.89sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-17 17:34:00.001] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712348 ms (missed cycles : 4).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028406 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_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 + 5.16sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.22sINFOobjective_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 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944114 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2128 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×340 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×340 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×680 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×680 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732677 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876293 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780562 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789666505.85748315 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202399 ms (missed cycles : 4).[0m ×2 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_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: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789666506.57997227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-17 17:35:06.784] [info] Accepted new action goal ×2 + 4.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715706 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824995 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766067 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-17 17:35:14.269] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243621 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746180 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-09-17 17:35:15.936] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189498 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_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 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Got request to cancel active goal. ×2 + 3.30sINFOros2_control_node[2026-09-17 17:35:16.620] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789666516.63759875 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.91sINFOobjective_server_nodecaller: ×2 + 3.91sINFOobjective_server_nodetype: 0 ×2 + 3.91sINFOobjective_server_nodename: "" ×2 + 3.91sINFOobjective_server_nodeinstance_id: "" ×2 + 3.91sINFOobjective_server_node ×2 + 4.01sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789666517.33044386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-17 17:35:17.504] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.910097 ms (missed cycles : 6).[0m ×2 + 4.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521199 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191381 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 22 warnings · 61 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194464 ms (missed cycles : 4).[0m ×2 + 1.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060800 ms (missed cycles : 2).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797668 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1789666527.58102036 seconds ×3 + 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 + 3.34sINFOros2_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 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square 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: "Playback Square 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 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450139 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789666528.18133187 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 4.23sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-17 17:35:28.487] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854810 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689742 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.267737 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608306 ms (missed cycles : 4).[0m ×2 + 1.22sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711025 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641861 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789666538.09135675 seconds ×3 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.97sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.97sINFOobjective_server_nodecaller: ×2 + 3.97sINFOobjective_server_nodetype: 0 ×2 + 3.97sINFOobjective_server_nodename: "" ×2 + 3.97sINFOobjective_server_nodeinstance_id: "" ×2 + 3.97sINFOobjective_server_node ×2 + 4.04sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789666538.74857330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234191 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.17sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-17 17:35:38.882] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446853 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319495 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 1.72sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789666549.07886648 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 1.72sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789666549.07886648 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 1.72sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789666549.07886648 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111040 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 1.72sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1789666549.07886648 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.47sINFOobjective_server_nodecaller: ×6 + 3.47sINFOobjective_server_nodetype: 0 ×6 + 3.47sINFOobjective_server_nodename: "" ×6 + 3.47sINFOobjective_server_nodeinstance_id: "" ×6 + 3.47sINFOobjective_server_node ×6 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_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 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 4.92sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_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 + 1.88sERRORobjective_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: 1789666549.07886648 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.45sINFOobjective_server_nodecaller: ×6 + 2.45sINFOobjective_server_nodetype: 0 ×6 + 2.45sINFOobjective_server_nodename: "" ×6 + 2.45sINFOobjective_server_nodeinstance_id: "" ×6 + 2.45sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5).[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 1.821908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_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 + 1.88sERRORobjective_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: 1789666549.07886648 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.45sINFOobjective_server_nodecaller: ×6 + 2.45sINFOobjective_server_nodetype: 0 ×6 + 2.45sINFOobjective_server_nodename: "" ×6 + 2.45sINFOobjective_server_nodeinstance_id: "" ×6 + 2.45sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5).[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 1.821908 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821908 ms (missed cycles : 2).[0m ×2 + 0.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795763 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_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 + 1.88sERRORobjective_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: 1789666549.07886648 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306825 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.45sINFOobjective_server_nodecaller: ×6 + 2.45sINFOobjective_server_nodetype: 0 ×6 + 2.45sINFOobjective_server_nodename: "" ×6 + 2.45sINFOobjective_server_nodeinstance_id: "" ×6 + 2.45sINFOobjective_server_node ×6 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789666549.70508122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789666549.77521229 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.850142 ms (missed cycles : 7).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789666550.38471603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_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 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789666550.40702772 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 + 3.90sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789666551.10260558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (4.59e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-17 17:35:51.227] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912086 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580263 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232607 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789666561.58738208 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 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 + 5.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919285 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.319497 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234823 ms (missed cycles : 3).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.82sINFOobjective_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 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Got request to cancel active goal. ×2 + 2.83sINFOros2_control_node[2026-09-17 17:36:01.582] [info] Canceling active goal... ×2 + 2.83sERRORobjective_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: 1789666561.58738208 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870257 ms (missed cycles : 5).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666562.18315935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464865 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666563.34329391 seconds ×3 + 5.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.13sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215321 ms (missed cycles : 2).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789666563.94107819 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 + 5.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789666563.94413877 seconds ×3 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789666564.61975479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789666564.63075471 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302685 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__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 | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.4s | 37 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/2026-09-17-17-31-31-028278-61ffaebd91a5-7264 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268248 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7312] ×2 + 0.83sINFOmove_group-9process started with pid [7349] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7350] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7351] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7352] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7353] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7354] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7355] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7356] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7357] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7358] ×2 + 0.85sINFOweb_bridge-19process started with pid [7359] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7430] ×2 + 0.85sINFOvideo_server-21process started with pid [7438] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7439] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7440] ×2 + 0.85sINFOros2-2process started with pid [7313] ×2 + 0.85sINFOros2-3process started with pid [7314] ×2 + 0.85sINFOros2-4process started with pid [7315] ×2 + 0.85sINFOros2-5process started with pid [7316] ×2 + 0.85sINFOros2-6process started with pid [7317] ×2 + 0.85sINFOros2-7process started with pid [7318] ×2 + 0.85sINFOros2-8process started with pid [7319] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268248 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF configuration loaded from /tmp/moveit-webrtc-ilnw4yeq/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-17 17:31:33.271] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.10sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262510 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262510 ms (missed cycles : 6).[0m ×2 + 2.17sINFOwaypoint_manager_node[2026-09-17 17:31:33.577] [moveit_pro_license] [info] ×2 + 2.17sINFOwaypoint_manager_node************************************************* ×4 + 2.17sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.33sINFOmove_group ×4 + 2.33sINFOmove_group[92mYou can start planning now![0m ×2 + 3.03sINFOobjective_server_node[2026-09-17 17:31:34.429] [moveit_pro_license] [info] ×2 + 3.03sINFOobjective_server_node************************************************* ×4 + 3.03sINFOobjective_server_node* MoveIt Pro License ×2 + 3.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.16sINFOobjective_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 + 3.16sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.17sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.56sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.56sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.15sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.15sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.15sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.15sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.15sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 4.26sINFOcomponent_container_mt[2026-09-17 17:31:35.660] [moveit_pro_license] [info] ×2 + 4.26sINFOcomponent_container_mt************************************************* ×4 + 4.26sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.26sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.27sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.27sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.27sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.27sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.28sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 4.28sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 4.29sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.29sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.30sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446150 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446150 ms (missed cycles : 4).[0m ×2 + 4.30sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.30sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 4.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 4.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.63sINFOros2-3process has finished cleanly [pid 7314] ×2 + 4.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.66sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.66sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.68sINFOros2_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 + 4.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.68sWARNros2_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 + 5.05sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.05sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.05sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.05sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.07sINFOros2-4process has finished cleanly [pid 7315] ×2 + 5.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 5.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 5.21sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.25sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 5.25sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.53sINFOros2-7process has finished cleanly [pid 7318] ×2 + 5.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 5.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 5.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.63sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 5.63sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.96sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.96sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.96sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.96sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.98sINFOros2-8process has finished cleanly [pid 7319] ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 5.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 5.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 5.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 5.99sINFOobjective_server_nodecaller: ×10 + 5.99sINFOobjective_server_nodetype: 0 ×10 + 5.99sINFOobjective_server_nodename: "" ×10 + 5.99sINFOobjective_server_nodeinstance_id: "" ×10 + 5.99sINFOobjective_server_node ×10 + 6.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 6.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 6.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 6.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 6.12sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 6.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 6.45sINFOros2-6process has finished cleanly [pid 7317] ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 6.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.47sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.47sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.63sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.88sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.88sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 6.88sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 6.89sINFOros2-5process has finished cleanly [pid 7316] ×2 + 6.92sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.92sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.92sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.92sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.92sINFOforce_torque_sensor_broadcasterconfigure successful + 6.93sINFOros2_control_nodeconfigure successful[0m ×2 + 6.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.25sINFOros2-2process has finished cleanly [pid 7313] ×2 + 7.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 7.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 8.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sWARNros2_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 + 8.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 8.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 8.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 9.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 22 warnings · 486 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 + 0.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 0.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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 ] + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 7317] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.92sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.93sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.93sINFOforce_torque_sensor_broadcasterconfigure successful + 0.93sINFOros2_control_nodeconfigure successful[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 7313] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.25sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 7.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 537 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: [ robotiq_gripper_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 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: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.28sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.31sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.31sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.66sINFOros2-8process has finished cleanly [pid 7319] ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.68sINFOobjective_server_nodecaller: ×14 + 0.68sINFOobjective_server_nodetype: 0 ×14 + 0.68sINFOobjective_server_nodename: "" ×14 + 0.68sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.71sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 0.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.77sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.77sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.15sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.57sINFOros2-5process has finished cleanly [pid 7316] ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.61sINFOforce_torque_sensor_broadcasterconfigure successful + 1.61sINFOros2_control_nodeconfigure successful[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 5.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 351 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.157] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.158] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-17-17-31-31-028278-61ffaebd91a5-7264 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.65sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.66sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.66sINFOcontroller_managerupdate rate is 600 Hz + 0.66sINFOcontroller_managerOverruns handling is : enabled + 0.66sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.66sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268248 ms (missed cycles : 3). + 0.83sINFOros2_control_node-1process started with pid [7312] ×2 + 0.83sINFOmove_group-9process started with pid [7349] ×2 + 0.83sINFOparameter_manager_node-10process started with pid [7350] ×2 + 0.83sINFOwaypoint_manager_node-11process started with pid [7351] ×2 + 0.83sINFOmove_joint_resampler_node-12process started with pid [7352] ×2 + 0.85sINFOmove_end_effector_resampler_node-13process started with pid [7353] ×2 + 0.85sINFOobjective_server_node_main-14process started with pid [7354] ×2 + 0.85sINFOcomponent_container_mt-15process started with pid [7355] ×2 + 0.85sINFOcomponent_container_mt-16process started with pid [7356] ×2 + 0.85sINFOexecute_objective_bridge-17process started with pid [7357] ×2 + 0.85sINFOui_teleop_bridge-18process started with pid [7358] ×2 + 0.85sINFOweb_bridge-19process started with pid [7359] ×2 + 0.85sINFOtf2_web_republisher_node-20process started with pid [7430] ×2 + 0.85sINFOvideo_server-21process started with pid [7438] ×2 + 0.85sINFOweb_bridge_auth_proxy-22process started with pid [7439] ×2 + 0.85sINFOweb_video_auth_proxy-23process started with pid [7440] ×2 + 0.85sINFOros2-2process started with pid [7313] ×2 + 0.85sINFOros2-3process started with pid [7314] ×2 + 0.85sINFOros2-4process started with pid [7315] ×2 + 0.85sINFOros2-5process started with pid [7316] ×2 + 0.85sINFOros2-6process started with pid [7317] ×2 + 0.85sINFOros2-7process started with pid [7318] ×2 + 0.85sINFOros2-8process started with pid [7319] ×2 + 0.86sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.86sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.86sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.86sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.86sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.86sWARNros2_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 + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268248 ms (missed cycles : 3).[0m ×2 + 0.86sINFOcontroller_managerReceived robot description from topic. + 0.86sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF configuration loaded from /tmp/moveit-webrtc-ilnw4yeq/mediamtx.yml ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.09sINFOvideo_server2026/09/17 17:31:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.52sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.52sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-17 17:31:33.271] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.08sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.08sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.08sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.10sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.10sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262510 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262510 ms (missed cycles : 6).[0m ×2 + 2.17sINFOwaypoint_manager_node[2026-09-17 17:31:33.577] [moveit_pro_license] [info] ×2 + 2.17sINFOwaypoint_manager_node************************************************* ×4 + 2.17sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.17sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.33sINFOmove_group ×4 + 2.33sINFOmove_group[92mYou can start planning now![0m ×2 + 3.03sINFOobjective_server_node[2026-09-17 17:31:34.429] [moveit_pro_license] [info] ×2 + 3.03sINFOobjective_server_node************************************************* ×4 + 3.03sINFOobjective_server_node* MoveIt Pro License ×2 + 3.03sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.16sINFOobjective_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 + 3.16sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.17sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.17sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.56sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.56sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 573 info |
+ 0.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOros2_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 + 0.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.03sWARNros2_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 + 0.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7315] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2-8process has finished cleanly [pid 7319] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×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: 1789666298.09043860 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 + 2.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.24sINFOros2-5process has finished cleanly [pid 7316] ×2 + 2.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.27sINFOforce_torque_sensor_broadcasterconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.60sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 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: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 573 info |
+ 0.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOros2_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 + 0.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.03sWARNros2_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 + 0.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7315] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2-8process has finished cleanly [pid 7319] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×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: 1789666298.09043860 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 + 2.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.24sINFOros2-5process has finished cleanly [pid 7316] ×2 + 2.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.27sINFOforce_torque_sensor_broadcasterconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.60sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 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: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 573 info |
+ 0.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOros2_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 + 0.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.03sWARNros2_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 + 0.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.42sINFOros2-4process has finished cleanly [pid 7315] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.652] [info] Controller state will be published at 10 Hz. ×2 + 0.60sINFOros2_control_node[2026-09-17 17:31:36.653] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258656 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.71sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.71sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.83sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.83sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.94sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2-8process has finished cleanly [pid 7319] ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.44sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.46sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 1.47sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.80sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×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: 1789666298.09043860 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 + 2.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 2.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 2.24sINFOros2-5process has finished cleanly [pid 7316] ×2 + 2.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.27sINFOforce_torque_sensor_broadcasterconfigure successful + 2.27sINFOros2_control_nodeconfigure successful[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.60sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 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: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 19 warnings · 537 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: [ robotiq_gripper_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 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: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.21sINFOros2-7process has finished cleanly [pid 7318] ×2 + 0.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.28sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.28sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.31sINFOros2_control_node[2026-09-17 17:31:37.031] [info] Controller state will be published at 20 Hz. ×2 + 0.31sINFOros2_control_node[2026-09-17 17:31:37.032] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.66sINFOros2-8process has finished cleanly [pid 7319] ×2 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.68sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.68sINFOobjective_server_nodecaller: ×14 + 0.68sINFOobjective_server_nodetype: 0 ×14 + 0.68sINFOobjective_server_nodename: "" ×14 + 0.68sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.71sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 0.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.77sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.77sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 0.80sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.08sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7317] ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 1.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.15sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.15sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 1.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 1.57sINFOros2-5process has finished cleanly [pid 7316] ×2 + 1.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.61sINFOforce_torque_sensor_broadcasterconfigure successful + 1.61sINFOros2_control_nodeconfigure successful[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.93sINFOros2-2process has finished cleanly [pid 7313] ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sWARNros2_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 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 5.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.93sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 476 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 + 0.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666297.45819712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666297.46838784 seconds ×3 + 0.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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 ] + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.09sINFOros2_control_node[2026-09-17 17:31:37.491] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.12sINFOros2_control_node[2026-09-17 17:31:37.519] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-17 17:31:37.525] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.25sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 7317] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758259 ms (missed cycles : 2).[0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.48sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.48sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.48sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.48sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.48sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.49sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.49sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.69sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789666298.09043860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.70sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.90sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.92sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.93sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.93sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.93sINFOforce_torque_sensor_broadcasterconfigure successful + 0.93sINFOros2_control_nodeconfigure successful[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.93sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 7313] ×2 + 1.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNros2_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 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.47sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.47sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.25sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 22 warnings · 353 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.157] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.158] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326672 ms (missed cycles : 4).[0m ×2 + 7.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 19 warnings · 351 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.157] [info] Received new action goal ×2 + 6.87sINFOros2_control_node[2026-09-17 17:31:45.158] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 19 warnings · 347 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u8i_c3g9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_s9ha7qev --params-file /tmp/launch_params_23ubkxjk [0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7316] ×2 + 0.04sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.04sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.04sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.04sINFOforce_torque_sensor_broadcasterconfigure successful + 0.04sINFOros2_control_nodeconfigure successful[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.05sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 7313] ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789666299.00060844 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415829 ms (missed cycles : 5).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789666299.62279224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sWARNros2_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 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789666299.68294740 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666300.34000325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666300.36012554 seconds ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890794 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666300.96786547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666301.11843896 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.150290 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666301.84406495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666301.89419794 seconds ×3 + 3.89sWARNros2_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 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789666302.51295471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.6179e-05 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-09-17 17:31:42.651] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.638443 ms (missed cycles : 8).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.230713 ms (missed cycles : 8).[0m ×2 + 6.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 | ||||