129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 163 warnings · 22464 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035434 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690198.89904737 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOobjective_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: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690199.51922822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.42sINFOros2_control_node[2026-09-18 00:09:59.682] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-18 00:09:59.683] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830255 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830255 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2).[0m ×2 + 6.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 6.73sINFOjoint_trajectory_controllerReceived new action goal ×3700 + 6.73sINFOjoint_trajectory_controllerAccepted new action goal ×3700 + 6.73sINFOros2_control_nodeReceived new action goal[0m ×7400 + 6.73sINFOros2_control_nodeAccepted new action goal[0m ×7400 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681534 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681534 ms (missed cycles : 2).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997277 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997277 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986868 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986868 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757303 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757303 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168484 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168484 ms (missed cycles : 4).[0m ×2 + 11.75sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.75sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.75sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.75sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754562 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754562 ms (missed cycles : 2).[0m ×2 + 13.37sWARNros2_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 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297391 ms (missed cycles : 2). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297391 ms (missed cycles : 2).[0m ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676818 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676818 ms (missed cycles : 3).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929742 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929742 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710483 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710483 ms (missed cycles : 2).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763441 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763441 ms (missed cycles : 2).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537029 ms (missed cycles : 4). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537029 ms (missed cycles : 4).[0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206996 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206996 ms (missed cycles : 2).[0m ×2 + 20.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835141 ms (missed cycles : 4). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835141 ms (missed cycles : 4).[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095770 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095770 ms (missed cycles : 2).[0m ×2 + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728218 ms (missed cycles : 2). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728218 ms (missed cycles : 2).[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841989 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841989 ms (missed cycles : 2).[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134696 ms (missed cycles : 2). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134696 ms (missed cycles : 2).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434162 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434162 ms (missed cycles : 2).[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066696 ms (missed cycles : 2). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066696 ms (missed cycles : 2).[0m ×2 + 27.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834235 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834235 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319107 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319107 ms (missed cycles : 2).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814104 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814104 ms (missed cycles : 2).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171267 ms (missed cycles : 2). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171267 ms (missed cycles : 2).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933977 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933977 ms (missed cycles : 2).[0m ×2 + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672265 ms (missed cycles : 2).[0m ×2 + 34.11sWARNros2_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 + 34.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773830 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773830 ms (missed cycles : 2).[0m ×2 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176681 ms (missed cycles : 3). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176681 ms (missed cycles : 3).[0m ×2 + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352243 ms (missed cycles : 2). + 36.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352243 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128240 ms (missed cycles : 2). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128240 ms (missed cycles : 2).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600925 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600925 ms (missed cycles : 2).[0m ×2 + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548606 ms (missed cycles : 3). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548606 ms (missed cycles : 3).[0m ×2 + 40.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354992 ms (missed cycles : 2). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354992 ms (missed cycles : 2).[0m ×2 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687251 ms (missed cycles : 3). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687251 ms (missed cycles : 3).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354699 ms (missed cycles : 6). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354699 ms (missed cycles : 6).[0m ×2 + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165820 ms (missed cycles : 2). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165820 ms (missed cycles : 2).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666774 ms (missed cycles : 2). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666774 ms (missed cycles : 2).[0m ×2 + 45.49sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967679 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967679 ms (missed cycles : 2).[0m ×2 + 46.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940481 ms (missed cycles : 2). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940481 ms (missed cycles : 2).[0m ×2 + 47.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690243.39190054 seconds ×3 + 47.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690244.03308463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.93sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 47.94sINFOros2_control_node[2026-09-18 00:10:44.206] [info] Received new action goal ×2 + 47.94sINFOros2_control_node[2026-09-18 00:10:44.206] [info] Accepted new action goal ×2 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807261 ms (missed cycles : 3). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807261 ms (missed cycles : 3).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600561 ms (missed cycles : 4). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600561 ms (missed cycles : 4).[0m ×2 + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001086 ms (missed cycles : 2). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001086 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 156 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720348 ms (missed cycles : 5). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.720348 ms (missed cycles : 5).[0m ×2 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 7.09sINFOros2_control_node[2026-09-18 00:09:08.251] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-09-18 00:09:08.251] [info] Accepted new action goal ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291787 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291787 ms (missed cycles : 2).[0m ×2 + 8.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×6 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767248 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767248 ms (missed cycles : 2).[0m ×2 + 10.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.26sINFOros2_control_node[2026-09-18 00:09:11.421] [info] Received new action goal ×2 + 10.26sINFOros2_control_node[2026-09-18 00:09:11.421] [info] Accepted new action goal ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498727 ms (missed cycles : 2). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498727 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424429 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424429 ms (missed cycles : 4).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435848 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435848 ms (missed cycles : 4).[0m ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.30sINFOros2_control_node[2026-09-18 00:09:14.454] [info] Received new action goal ×2 + 13.30sINFOros2_control_node[2026-09-18 00:09:14.454] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926407 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.926407 ms (missed cycles : 2).[0m ×2 + 14.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527908 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527908 ms (missed cycles : 3).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722562 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722562 ms (missed cycles : 2).[0m ×2 + 16.26sINFOobjective_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 + 16.26sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.26sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.26sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701868 ms (missed cycles : 5). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.701868 ms (missed cycles : 5).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366477 ms (missed cycles : 6). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.366477 ms (missed cycles : 6).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709362 ms (missed cycles : 3). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709362 ms (missed cycles : 3).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741376 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741376 ms (missed cycles : 2).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373431 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373431 ms (missed cycles : 2).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886746 ms (missed cycles : 3). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886746 ms (missed cycles : 3).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570565 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570565 ms (missed cycles : 2).[0m ×2 + 23.83sINFOobjective_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 + 23.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.84sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.84sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.84sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.84sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618805 ms (missed cycles : 3). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.618805 ms (missed cycles : 3).[0m ×2 + 24.76sINFOros2_control_node[2026-09-18 00:09:25.914] [info] Received new action goal ×2 + 24.76sINFOros2_control_node[2026-09-18 00:09:25.914] [info] Accepted new action goal ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646180 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646180 ms (missed cycles : 2).[0m ×2 + 25.94sINFOobjective_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 + 25.95sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.23sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 26.28sINFOros2_control_node[2026-09-18 00:09:27.438] [info] Received new action goal ×2 + 26.28sINFOros2_control_node[2026-09-18 00:09:27.438] [info] Accepted new action goal ×2 + 26.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721658 ms (missed cycles : 3). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721658 ms (missed cycles : 3).[0m ×2 + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769299 ms (missed cycles : 3). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769299 ms (missed cycles : 3).[0m ×2 + 28.56sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 28.57sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.58sINFOros2_control_node[2026-09-18 00:09:29.735] [info] Received new action goal ×2 + 28.58sINFOros2_control_node[2026-09-18 00:09:29.735] [info] Accepted new action goal ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673767 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673767 ms (missed cycles : 3).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507922 ms (missed cycles : 2). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507922 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292567 ms (missed cycles : 2). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292567 ms (missed cycles : 2).[0m ×2 + 31.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 31.60sINFOros2_control_node[2026-09-18 00:09:32.755] [info] Received new action goal ×2 + 31.60sINFOros2_control_node[2026-09-18 00:09:32.755] [info] Accepted new action goal ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259192 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259192 ms (missed cycles : 2).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714872 ms (missed cycles : 2). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714872 ms (missed cycles : 2).[0m ×2 + 34.19sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 34.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.24sINFOros2_control_node[2026-09-18 00:09:35.398] [info] Received new action goal ×2 + 34.24sINFOros2_control_node[2026-09-18 00:09:35.398] [info] Accepted new action goal ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552384 ms (missed cycles : 3). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552384 ms (missed cycles : 3).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353107 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353107 ms (missed cycles : 2).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444938 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444938 ms (missed cycles : 2).[0m ×2 + 37.27sWARNros2_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 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176707 ms (missed cycles : 4). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176707 ms (missed cycles : 4).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147343 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147343 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065336 ms (missed cycles : 3). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065336 ms (missed cycles : 3).[0m ×2 + 40.59sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943456 ms (missed cycles : 2). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943456 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550436 ms (missed cycles : 3). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550436 ms (missed cycles : 3).[0m ×2 + 43.19sWARNros2_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 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998293 ms (missed cycles : 3). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998293 ms (missed cycles : 3).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.450922 ms (missed cycles : 7). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.450922 ms (missed cycles : 7).[0m ×2 + 44.93sINFOros2_control_node[2026-09-18 00:09:46.086] [info] Received new action goal ×2 + 44.93sINFOros2_control_node[2026-09-18 00:09:46.086] [info] Accepted new action goal ×2 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488497 ms (missed cycles : 4). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488497 ms (missed cycles : 4).[0m ×2 + 46.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789690187.24285769 seconds ×3 + 46.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139448 ms (missed cycles : 4). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139448 ms (missed cycles : 4).[0m ×2 + 46.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.68sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.89sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789690188.04679728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673949 ms (missed cycles : 2). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673949 ms (missed cycles : 2).[0m ×2 + 47.90sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 47.93sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.94sINFOros2_control_node[2026-09-18 00:09:49.101] [info] Received new action goal ×2 + 47.94sINFOros2_control_node[2026-09-18 00:09:49.101] [info] Accepted new action goal ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790494 ms (missed cycles : 3). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790494 ms (missed cycles : 3).[0m ×2 + 49.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332412 ms (missed cycles : 3). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332412 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 89 warnings · 15330 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2522 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2522 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×5044 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×5044 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165820 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165820 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666774 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666774 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967679 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967679 ms (missed cycles : 2).[0m ×2 + 2.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940481 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940481 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690243.39190054 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.83sINFOobjective_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: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690244.03308463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.10sINFOros2_control_node[2026-09-18 00:10:44.206] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-18 00:10:44.206] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807261 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807261 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600561 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600561 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.42sINFOobjective_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 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001086 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001086 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697780 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697780 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217108 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217108 ms (missed cycles : 2).[0m ×2 + 9.44sWARNros2_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 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809637 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809637 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815424 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815424 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025218 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025218 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063537 ms (missed cycles : 4). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063537 ms (missed cycles : 4).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841843 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841843 ms (missed cycles : 2).[0m ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608960 ms (missed cycles : 4). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608960 ms (missed cycles : 4).[0m ×2 + 15.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257663 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257663 ms (missed cycles : 2).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696745 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696745 ms (missed cycles : 2).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810019 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810019 ms (missed cycles : 2).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844012 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844012 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172850 ms (missed cycles : 7). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.172850 ms (missed cycles : 7).[0m ×2 + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694821 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694821 ms (missed cycles : 2).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 22.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 25.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 25.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 25.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 26.06sINFOobjective_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: ""
+ 26.06sINFOobjective_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: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 26.36sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.38sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 26.38sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.7s | 3 errors · 60 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_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 + 1.72sERRORobjective_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: 1789690080.68875766 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.34sINFOobjective_server_nodecaller: ×8 + 2.34sINFOobjective_server_nodetype: 0 ×8 + 2.34sINFOobjective_server_nodename: "" ×8 + 2.34sINFOobjective_server_nodeinstance_id: "" ×8 + 2.34sINFOobjective_server_node ×8 + 2.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946208 ms (missed cycles : 7). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.946208 ms (missed cycles : 7).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793095 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793095 ms (missed cycles : 2).[0m ×2 + 7.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.676900 ms (missed cycles : 7). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.676900 ms (missed cycles : 7).[0m ×2 + 9.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.24sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 9.55sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.66sINFOobjective_server_nodeFound path in 1 iterations (0.00335447 s). ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753712 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753712 ms (missed cycles : 3).[0m ×2 + 9.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.88sINFOros2_control_node[2026-09-18 00:08:08.847] [info] Received new action goal ×2 + 9.88sINFOros2_control_node[2026-09-18 00:08:08.847] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927935 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927935 ms (missed cycles : 5).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370249 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370249 ms (missed cycles : 2).[0m ×2 + 12.18sINFOros2_control_node[2026-09-18 00:08:11.149] [info] Received new action goal ×2 + 12.18sINFOros2_control_node[2026-09-18 00:08:11.149] [info] Accepted new action goal ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 13.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 13.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.86sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 13.86sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 15.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.69sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 16.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.45sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.61sINFOobjective_server_nodeFound path in 0 iterations (5.91e-07 s). ×2 + 16.62sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 16.62sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 16.62sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 62 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00328294 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Accepted new action goal ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.79sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1789690127.83653927 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 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.51sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.51sINFOobjective_server_nodecaller: ×6 + 3.51sINFOobjective_server_nodetype: 0 ×6 + 3.51sINFOobjective_server_nodename: "" ×6 + 3.51sINFOobjective_server_nodeinstance_id: "" ×6 + 3.51sINFOobjective_server_node ×6 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690128.62290859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5).[0m ×2 + 6.30sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434976 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434976 ms (missed cycles : 4).[0m ×2 + 7.35sWARNros2_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 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408877 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408877 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402568 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402568 ms (missed cycles : 3).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011444 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011444 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794911 ms (missed cycles : 4). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794911 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2).[0m ×2 + 12.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3).[0m ×2 + 14.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690139.87247705 seconds ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2).[0m ×2 + 15.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.50sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690140.54576898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690140.61590886 seconds ×3 + 16.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.16sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.34sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 18.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 18.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 220 info |
+ 0.00sWARNros2_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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998293 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998293 ms (missed cycles : 3).[0m ×2 + 0.83sINFOobjective_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 + 0.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.83sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.83sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.450922 ms (missed cycles : 7). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.450922 ms (missed cycles : 7).[0m ×2 + 1.73sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.74sINFOros2_control_node[2026-09-18 00:09:46.086] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-09-18 00:09:46.086] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488497 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.488497 ms (missed cycles : 4).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789690187.24285769 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139448 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139448 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.70sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789690188.04679728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673949 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673949 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:09:49.101] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:09:49.101] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790494 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790494 ms (missed cycles : 3).[0m ×2 + 6.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332412 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332412 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059895 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059895 ms (missed cycles : 5).[0m ×2 + 8.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.46sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.46sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.46sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.46sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590690 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590690 ms (missed cycles : 3).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890672 ms (missed cycles : 6). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.890672 ms (missed cycles : 6).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606589 ms (missed cycles : 3). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606589 ms (missed cycles : 3).[0m ×2 + 10.92sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.95sINFOros2_control_node[2026-09-18 00:09:55.293] [info] Received new action goal ×2 + 10.95sINFOros2_control_node[2026-09-18 00:09:55.293] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035434 ms (missed cycles : 4). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035434 ms (missed cycles : 4).[0m ×2 + 11.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5).[0m ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690198.89904737 seconds ×3 + 15.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.10sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2).[0m ×2 + 15.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690199.51922822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.33sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.34sINFOros2_control_node[2026-09-18 00:09:59.682] [info] Received new action goal ×2 + 15.34sINFOros2_control_node[2026-09-18 00:09:59.683] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5).[0m ×2 + 16.61sINFOobjective_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 + 16.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.67sINFOros2_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 1.830255 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830255 ms (missed cycles : 2).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2484 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 + 7.15sWARNros2_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 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896507 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896507 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266763 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266763 ms (missed cycles : 2).[0m ×2 + 8.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (1.85e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 1 iterations (0.00403815 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.97sINFOros2_control_node[2026-09-18 00:11:11.237] [info] Received new action goal ×2 + 8.97sINFOros2_control_node[2026-09-18 00:11:11.237] [info] Accepted new action goal ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674834 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674834 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133199 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133199 ms (missed cycles : 3).[0m ×2 + 11.28sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 12.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 12.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.92sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 12.92sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 14.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 14.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 15.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.26sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 17.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.25sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.25sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.26sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789690114.45702362 seconds ×3 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882432 ms (missed cycles : 5). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882432 ms (missed cycles : 5).[0m ×2 + 1.17sWARNros2_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 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085471 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085471 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943854 ms (missed cycles : 5). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943854 ms (missed cycles : 5).[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690117.41227746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.45sINFOros2_control_node[2026-09-18 00:08:37.616] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-18 00:08:37.616] [info] Accepted new action goal ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082529 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082529 ms (missed cycles : 5).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457804 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457804 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646346 ms (missed cycles : 3). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646346 ms (missed cycles : 3).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338584 ms (missed cycles : 6). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338584 ms (missed cycles : 6).[0m ×2 + 7.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.15sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.43sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.45sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.58sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.60sINFOobjective_server_nodeFound path in 5 iterations (0.0065582 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (2.09e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740280 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740280 ms (missed cycles : 3).[0m ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.29sINFOros2_control_node[2026-09-18 00:08:42.459] [info] Received new action goal ×2 + 8.29sINFOros2_control_node[2026-09-18 00:08:42.459] [info] Accepted new action goal ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444837 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444837 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977293 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977293 ms (missed cycles : 2).[0m ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.85sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 10.97sINFOobjective_server_nodeFound path in 1 iterations (0.00328294 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3).[0m ×2 + 11.22sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Accepted new action goal ×2 + 11.65sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Received new action goal ×2 + 11.65sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4).[0m ×2 + 12.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6).[0m ×2 + 13.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.63sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.63sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.67sERRORobjective_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: 1789690127.83653927 seconds ×3 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690128.62290859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 14.63sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Received new action goal ×2 + 14.63sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Accepted new action goal ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5).[0m ×2 + 17.13sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Received new action goal ×2 + 17.13sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690298.18082428 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.14sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.14sINFOobjective_server_nodecaller: ×8 + 3.14sINFOobjective_server_nodetype: 0 ×8 + 3.14sINFOobjective_server_nodename: "" ×8 + 3.14sINFOobjective_server_nodeinstance_id: "" ×8 + 3.14sINFOobjective_server_node ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690298.84729123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390521 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390521 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696982 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696982 ms (missed cycles : 3).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831394 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831394 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419466 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419466 ms (missed cycles : 3).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 13.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.55sERRORobjective_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: 1789690309.18758345 seconds ×3 + 13.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.85sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_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 + 14.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 15.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.65sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 15.65sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708610 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708610 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079930 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079930 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 2.12sINFOros2_control_node[2026-09-18 00:07:49.207] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-09-18 00:07:49.207] [info] Accepted new action goal ×2 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907157 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907157 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.61sINFOros2_control_node[2026-09-18 00:07:49.693] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-18 00:07:49.693] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1789690069.71018934 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690070.31820822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650158 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650158 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.45sINFOros2_control_node[2026-09-18 00:07:50.528] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-18 00:07:50.528] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265046 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265046 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345194 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345194 ms (missed cycles : 4).[0m ×2 + 5.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.72sINFOros2_control_node[2026-09-18 00:07:52.802] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-09-18 00:07:52.802] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701986 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701986 ms (missed cycles : 2).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.160381 ms (missed cycles : 5). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.160381 ms (missed cycles : 5).[0m ×2 + 8.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942449 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942449 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978871 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978871 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 13.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690080.68875766 seconds ×3 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 14.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 14.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.95sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.00sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.20sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 139 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288738 ms (missed cycles : 4). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288738 ms (missed cycles : 4).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737569 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737569 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752709 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752709 ms (missed cycles : 3).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4).[0m ×2 + 12.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sERRORobjective_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: 1789690287.69001126 seconds ×3 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2).[0m ×2 + 14.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.68sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.74sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690288.28370452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 15.02sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.04sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Accepted new action goal ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200937 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200937 ms (missed cycles : 2).[0m ×2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.10sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706092 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706092 ms (missed cycles : 2).[0m ×2 + 8.54sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 5 iterations (0.00650622 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.29sINFOros2_control_node[2026-09-18 00:08:31.900] [info] Received new action goal ×2 + 9.29sINFOros2_control_node[2026-09-18 00:08:31.900] [info] Accepted new action goal ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.494654 ms (missed cycles : 7). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.494654 ms (missed cycles : 7).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568082 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568082 ms (missed cycles : 2).[0m ×2 + 11.56sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.81sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.81sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.81sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789690114.45702362 seconds ×3 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882432 ms (missed cycles : 5). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.882432 ms (missed cycles : 5).[0m ×2 + 12.73sWARNros2_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 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085471 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085471 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943854 ms (missed cycles : 5). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943854 ms (missed cycles : 5).[0m ×2 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.80sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690117.41227746 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-18 00:08:37.616] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-18 00:08:37.616] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082529 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082529 ms (missed cycles : 5).[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457804 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.457804 ms (missed cycles : 4).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646346 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646346 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 59 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.15sINFOros2_control_node[2026-09-18 00:08:18.943] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-09-18 00:08:18.943] [info] Accepted new action goal ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834197 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834197 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133503 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133503 ms (missed cycles : 3).[0m ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 9.49sINFOros2_control_node[2026-09-18 00:08:21.281] [info] Received new action goal ×2 + 9.49sINFOros2_control_node[2026-09-18 00:08:21.281] [info] Accepted new action goal ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941698 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941698 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 11.85sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 11.85sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 12.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 13.99sINFOobjective_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 + 14.00sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 14.00sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 14.01sERRORobjective_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: 1789690105.80251122 seconds ×3 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.65sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 14.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.86sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 17.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 59 errors · 34 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-09-18 00:12:01.188] [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: 1789690321.19224811 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[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 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 2.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.27sINFOobjective_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 + 2.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690325.49538946 seconds ×3 + 4.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2).[0m ×2 + 5.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324182 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324182 ms (missed cycles : 4).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511003 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511003 ms (missed cycles : 4).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157004 ms (missed cycles : 5). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157004 ms (missed cycles : 5).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768615 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768615 ms (missed cycles : 2).[0m ×2 + 9.86sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.88sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORweb_video_auth_proxy-23process has died [pid 7368, 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 + 9.88sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.88sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.88sERRORweb_bridge_auth_proxy-22process has died [pid 7367, 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 + 9.88sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.89sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.89sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.89sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.90sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.90sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.90sINFOvideo_server-21process has finished cleanly [pid 7366] ×2 + 9.90sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.91sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.91sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.92sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.92sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.93sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.94sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.94sINFOcontroller_managerShutdown request received.... + 9.94sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.94sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.94sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.94sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.94sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.94sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.94sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.94sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.94sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.94sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.94sINFOvideo_server2026/09/18 00:12:11 INF shutting down gracefully ×2 + 9.94sINFOvideo_server2026/09/18 00:12:11 INF [WebRTC] closing ×2 + 9.94sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.94sINFOvideo_server2026/09/18 00:12:11 INF [RTSP] closing ×2 + 9.94sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.94sINFOvideo_server2026/09/18 00:12:11 INF waiting for running hooks ×2 + 9.94sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.94sINFOcontroller_managerShutting down the controller manager. + 9.94sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.94sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.94sERRORmove_groupStack trace (most recent call last) in thread 7727: ×2 + 9.94sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.94sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.94sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.94sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.94sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.94sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.95sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.95sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.95sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.95sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.95sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.95sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.95sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.95sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.95sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.95sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.95sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e4d345a63, in __clone ×2 + 9.95sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e4d2b8aa3, in ×2 + 9.95sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e4d54adb3, in ×2 + 9.95sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0e4dcaeb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.95sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e4d8dc620, in rclcpp::Rate::sleep() ×2 + 9.95sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e4d81ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.95sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0e4d7e0087, in ×2 + 9.95sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e4d519390, in __cxa_throw ×2 + 9.95sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e4d503a54, in std::terminate() ×2 + 9.95sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e4d5190d9, in ×2 + 9.95sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0e4d503ff4, in ×2 + 9.95sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e4d2448fe, in abort ×2 + 9.95sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e4d26127d, in raise ×2 + 9.95sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0e4d2bab2c, in pthread_kill ×2 + 9.95sERRORmove_groupAborted (Signal sent by tkill() 7268 0) ×2 + 9.96sERRORmove_group-9process has died [pid 7268, 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_gwtpw1oc --params-file /tmp/launch_params_7k3vwy74 --params-file /tmp/launch_params_3lafev4k --params-file /tmp/launch_params_tw56nm8r --params-file /tmp/launch_params_egc23zzd --params-file /tmp/launch_params_j247afn3']. ×2 + 10.15sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.15sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.15sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.93sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7363] ×2 + 10.93sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.96sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7272] ×2 + 10.96sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7271] ×2 + 10.99sINFOexecute_objective_bridge-17process has finished cleanly [pid 7276] ×2 + 11.00sINFOparameter_manager_node-10process has finished cleanly [pid 7269] ×2 + 11.00sINFOui_teleop_bridge-18process has finished cleanly [pid 7277] ×2 + 11.00sINFOwaypoint_manager_node-11process has finished cleanly [pid 7270] ×2 + 11.06sINFOcomponent_container_mt-16process has finished cleanly [pid 7275] ×2 + 11.06sINFOobjective_server_node[0;m[2026-09-18 00:12:12.250] [moveit_pro_license] [critical] ×2 + 11.06sINFOobjective_server_node************************************************* ×4 + 11.06sINFOobjective_server_node* MoveIt Pro License ×2 + 11.06sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.19sINFOobjective_server_node_main-14process has finished cleanly [pid 7273] ×2 + 11.19sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.10sINFOcomponent_container_mt-15process has finished cleanly [pid 7274] ×2 + 12.32sINFOweb_bridge-19process has finished cleanly [pid 7278] ×2 + 12.32sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.58sINFOros2_control_node-1process has finished cleanly [pid 7249] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 57 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.57sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.57sINFOobjective_server_nodecaller: ×12 + 0.57sINFOobjective_server_nodetype: 0 ×12 + 0.57sINFOobjective_server_nodename: "" ×12 + 0.57sINFOobjective_server_nodeinstance_id: "" ×12 + 0.57sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 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: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×4 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[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 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.48sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.62sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.13sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391851 ms (missed cycles : 5). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391851 ms (missed cycles : 5).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223675 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223675 ms (missed cycles : 3).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.641474 ms (missed cycles : 6). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.641474 ms (missed cycles : 6).[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 9.76sINFOros2_control_node[2026-09-18 00:07:45.867] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-09-18 00:07:45.867] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326898 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326898 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708610 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708610 ms (missed cycles : 3).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079930 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079930 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.11sINFOros2_control_node[2026-09-18 00:07:49.207] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-09-18 00:07:49.207] [info] Accepted new action goal ×2 + 13.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907157 ms (missed cycles : 3). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907157 ms (missed cycles : 3).[0m ×2 + 13.58sINFOobjective_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 + 13.59sINFOros2_control_node[2026-09-18 00:07:49.693] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-09-18 00:07:49.693] [info] Canceling active goal... ×2 + 13.61sERRORobjective_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: 1789690069.71018934 seconds ×3 + 13.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.15sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690070.31820822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650158 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650158 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 14.43sINFOros2_control_node[2026-09-18 00:07:50.528] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-09-18 00:07:50.528] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265046 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265046 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345194 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345194 ms (missed cycles : 4).[0m ×2 + 16.69sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 16.69sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.70sINFOros2_control_node[2026-09-18 00:07:52.802] [info] Received new action goal ×2 + 16.70sINFOros2_control_node[2026-09-18 00:07:52.802] [info] Accepted new action goal ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701986 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701986 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.62sERRORobjective_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: 1789690309.18758345 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.18sINFOobjective_server_nodecaller: ×14 + 2.18sINFOobjective_server_nodetype: 0 ×14 + 2.18sINFOobjective_server_nodename: "" ×14 + 2.18sINFOobjective_server_nodeinstance_id: "" ×14 + 2.18sINFOobjective_server_node ×14 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4).[0m ×2 + 6.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 7.05sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.05sINFOros2_control_node[2026-09-18 00:11:54.621] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-09-18 00:11:54.621] [info] Accepted new action goal ×2 + 7.05sINFOros2_control_node[2026-09-18 00:11:54.621] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592679 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592679 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492936 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492936 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673936 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673936 ms (missed cycles : 2).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 12.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.62sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 13.62sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 13.62sERRORobjective_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: 1789690321.19224811 seconds ×3 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 15.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 15.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.84sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.89sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 16.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 17.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.12sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4).[0m ×2 + 1.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_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 + 2.92sERRORobjective_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: 1789690287.69001126 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690288.28370452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.81sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2).[0m ×2 + 6.61sWARNros2_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 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947067 ms (missed cycles : 5). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.947067 ms (missed cycles : 5).[0m ×2 + 7.82sINFOros2_control_node[2026-09-18 00:11:32.596] [info] Received new action goal ×2 + 7.82sINFOros2_control_node[2026-09-18 00:11:32.596] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225077 ms (missed cycles : 4). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225077 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226112 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226112 ms (missed cycles : 3).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5).[0m ×2 + 12.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5).[0m ×2 + 13.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690298.18082428 seconds ×3 + 14.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.00sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4).[0m ×2 + 14.08sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690298.84729123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.19sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.20sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Received new action goal ×2 + 14.20sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3).[0m ×2 + 16.98sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 205 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690139.87247705 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690140.54576898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690140.61590886 seconds ×3 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.65sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.49sINFOobjective_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 + 7.50sINFOobjective_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 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.81sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 2.18sWARNros2_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 + 3.07sINFOobjective_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 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1789690321.19224811 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.61sINFOobjective_server_nodecaller: ×8 + 3.61sINFOobjective_server_nodetype: 0 ×8 + 3.61sINFOobjective_server_nodename: "" ×8 + 3.61sINFOobjective_server_nodeinstance_id: "" ×8 + 3.61sINFOobjective_server_node ×8 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690325.49538946 seconds ×3 + 7.41sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2). + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2).[0m ×2 + 8.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 658 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.03sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.03sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.03sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.03sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.03sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.03sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.03sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.03sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.03sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.03sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.03sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.03sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.03sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.03sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.03sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.03sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.03sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.03sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.03sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.03sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.03sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.03sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.30sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.31sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.31sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.35sINFOros2_control_node[2026-09-18 00:07:32.040] [info] Controller state will be published at 20 Hz. ×2 + 0.35sINFOros2_control_node[2026-09-18 00:07:32.041] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.55sINFOros2_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 + 0.55sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.55sWARNros2_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 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387535 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387535 ms (missed cycles : 2).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.65sINFOros2-8process has finished cleanly [pid 7256] ×2 + 0.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.74sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.74sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.74sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.78sINFOros2_control_node[2026-09-18 00:07:32.468] [info] Controller state will be published at 10 Hz. ×2 + 0.78sINFOros2_control_node[2026-09-18 00:07:32.469] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.06sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.06sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.07sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.07sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.10sINFOforce_torque_sensor_broadcasterconfigure successful + 1.10sINFOros2_control_nodeconfigure successful[0m ×2 + 1.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.11sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.13sINFOros2-7process has finished cleanly [pid 7255] ×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_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.46sINFOros2-2process has finished cleanly [pid 7250] ×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 + 1.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.81sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.81sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 1.82sINFOros2-4process has finished cleanly [pid 7252] ×2 + 1.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.18sINFOros2-5process has finished cleanly [pid 7253] ×2 + 2.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 2.25sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 2.28sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.28sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.28sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.30sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.30sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.33sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.64sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 2.64sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 2.65sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.67sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.67sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.67sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.67sINFOros2-6process has finished cleanly [pid 7254] ×2 + 2.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.68sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.68sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.85sINFOobjective_server_nodecaller: ×14 + 2.85sINFOobjective_server_nodetype: 0 ×14 + 2.85sINFOobjective_server_nodename: "" ×14 + 2.85sINFOobjective_server_nodeinstance_id: "" ×14 + 2.85sINFOobjective_server_node ×14 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.02sINFOros2-3process has finished cleanly [pid 7251] ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.18sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 5.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.19sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 7.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.82sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.03sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2).[0m ×2 + 0.42sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690139.87247705 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690140.54576898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690140.61590886 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 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 (3.68e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:08:11.149] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:08:11.149] [info] Accepted new action goal ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 1.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_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 + 3.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.27sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (5.91e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.44sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 7.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.95sINFOobjective_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 + 0.96sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 0.96sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 0.96sERRORobjective_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: 1789690321.19224811 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.50sINFOobjective_server_nodecaller: ×8 + 1.50sINFOobjective_server_nodetype: 0 ×8 + 1.50sINFOobjective_server_nodename: "" ×8 + 1.50sINFOobjective_server_nodeinstance_id: "" ×8 + 1.50sINFOobjective_server_node ×8 + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.23sINFOobjective_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 + 3.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690325.49538946 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324182 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324182 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690080.68875766 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[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 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 513 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7250] ×2 + 0.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.88sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.18sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.18sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2-6process has finished cleanly [pid 7254] ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.56sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_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 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 25 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.95sINFOobjective_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 + 0.96sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 0.96sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 0.96sERRORobjective_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: 1789690321.19224811 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.50sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.50sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.50sINFOobjective_server_nodecaller: ×8 + 1.50sINFOobjective_server_nodetype: 0 ×8 + 1.50sINFOobjective_server_nodename: "" ×8 + 1.50sINFOobjective_server_nodeinstance_id: "" ×8 + 1.50sINFOobjective_server_node ×8 + 1.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.23sINFOobjective_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 + 3.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690325.49538946 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074871 ms (missed cycles : 2).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2374 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[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 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 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 (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 25 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690080.68875766 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.459404 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690080.68875766 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_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 + 1.72sERRORobjective_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: 1789690080.68875766 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_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 + 1.72sERRORobjective_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: 1789690080.68875766 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_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 + 1.72sERRORobjective_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: 1789690080.68875766 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140906 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264851 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_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 + 1.72sERRORobjective_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: 1789690080.68875766 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009838 ms (missed cycles : 4).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690081.36106133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690081.45118213 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.11sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690082.08378768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.081443 ms (missed cycles : 6).[0m ×2 + 3.31sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Received new action goal ×2 + 3.32sINFOros2_control_node[2026-09-18 00:08:02.287] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390395 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929455 ms (missed cycles : 2).[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 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 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 (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[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 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 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 (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[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 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 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 (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[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 3.723747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723747 ms (missed cycles : 3).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224324 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-09-18 00:08:12.832] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622544 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690094.12888908 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690094.74761295 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690094.82772994 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308378 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.68sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690095.46934390 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 (5.91e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:15.594] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773087 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243679 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211248 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773357 ms (missed cycles : 2).[0m ×2 + 0.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Received new action goal ×2 + 1.03sINFOros2_control_node[2026-09-18 00:08:23.641] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522761 ms (missed cycles : 3).[0m ×2 + 1.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366708 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_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 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Got request to cancel active goal. ×2 + 3.18sINFOros2_control_node[2026-09-18 00:08:25.789] [info] Canceling active goal... ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.845450 ms (missed cycles : 4).[0m ×2 + 3.19sERRORobjective_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: 1789690105.80251122 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690106.44339657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:08:26.647] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737713 ms (missed cycles : 4).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000279 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310404 ms (missed cycles : 5).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00328294 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459772 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-18 00:08:45.389] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-18 00:08:45.821] [info] Accepted new action goal ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873908 ms (missed cycles : 4).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.347181 ms (missed cycles : 6).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.79sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_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: 1789690127.83653927 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578691 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690128.62290859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:08:48.797] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413308 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873931 ms (missed cycles : 5).[0m ×2 + 6.30sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-18 00:08:51.300] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368056 ms (missed cycles : 2).[0m ×2 + 0.42sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405391 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399266 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690139.87247705 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798344 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690140.54576898 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690140.61590886 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 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 (3.68e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690141.21955872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:09:01.333] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676159 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360333 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690143.33968353 seconds ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982716 ms (missed cycles : 2).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 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 + 3.23sINFOros2_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 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286781 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690144.97661471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-18 00:09:05.383] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783503 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294153 ms (missed cycles : 2).[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 6.035434 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.035434 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.074373 ms (missed cycles : 5).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213388 ms (missed cycles : 2).[0m ×2 + 2.63sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690198.89904737 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOobjective_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: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540556 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690199.51922822 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.42sINFOros2_control_node[2026-09-18 00:09:59.682] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-18 00:09:59.683] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056753 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.69sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.75sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830255 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830255 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197144 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2374 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2374 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2374 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2374 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×381 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×381 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×762 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×762 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450306 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940641 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155322 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690265.55204916 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931772 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690266.26011300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (6.21e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:11:06.484] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110800 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712042 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 78 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:11:13.542] [info] Accepted new action goal ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262978 ms (missed cycles : 3).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544663 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-09-18 00:11:15.183] [info] Accepted new action goal ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245467 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789690276.48028207 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966360 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690277.35960054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-09-18 00:11:17.523] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732152 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934061 ms (missed cycles : 3).[0m ×2 + 5.89sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858903 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541571 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090642 ms (missed cycles : 4).[0m ×2 + 1.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414125 ms (missed cycles : 3).[0m ×2 + 2.91sINFOobjective_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 + 2.92sERRORobjective_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: 1789690287.69001126 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689760 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690288.28370452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.81sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Received new action goal ×2 + 3.81sINFOros2_control_node[2026-09-18 00:11:28.577] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984234 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939740 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786793 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672017 ms (missed cycles : 5).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811426 ms (missed cycles : 5).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690298.18082428 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.14sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.14sINFOobjective_server_nodecaller: ×2 + 3.14sINFOobjective_server_nodetype: 0 ×2 + 3.14sINFOobjective_server_nodename: "" ×2 + 3.14sINFOobjective_server_nodeinstance_id: "" ×2 + 3.14sINFOobjective_server_node ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276546 ms (missed cycles : 4).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690298.84729123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:11:38.971] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892247 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190893 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556634 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_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 + 2.66sERRORobjective_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: 1789690309.18758345 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.23sINFOobjective_server_nodecaller: ×6 + 3.23sINFOobjective_server_nodetype: 0 ×6 + 3.23sINFOobjective_server_nodename: "" ×6 + 3.23sINFOobjective_server_nodeinstance_id: "" ×6 + 3.23sINFOobjective_server_node ×6 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[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 7.328078 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_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: 1789690309.18758345 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_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: 1789690309.18758345 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328078 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629071 ms (missed cycles : 2).[0m ×2 + 1.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sERRORobjective_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: 1789690309.18758345 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853071 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690309.80165625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690309.87178421 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.91sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690310.48322415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.93sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690310.50552630 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704938 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690311.15779853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-18 00:11:51.281] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095239 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104056 ms (missed cycles : 4).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172254 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 2.18sWARNros2_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 + 3.07sINFOobjective_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 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1789690321.19224811 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.61sINFOobjective_server_nodecaller: ×8 + 3.61sINFOobjective_server_nodetype: 0 ×8 + 3.61sINFOobjective_server_nodename: "" ×8 + 3.61sINFOobjective_server_nodeinstance_id: "" ×8 + 3.61sINFOobjective_server_node ×8 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.513292 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320047 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669832 ms (missed cycles : 2).[0m ×2 + 2.18sWARNros2_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 + 3.07sINFOobjective_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 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Got request to cancel active goal. ×2 + 3.07sINFOros2_control_node[2026-09-18 00:12:01.188] [info] Canceling active goal... ×2 + 3.07sERRORobjective_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: 1789690321.19224811 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797496 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.61sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.61sINFOobjective_server_nodecaller: ×8 + 3.61sINFOobjective_server_nodetype: 0 ×8 + 3.61sINFOobjective_server_nodename: "" ×8 + 3.61sINFOobjective_server_nodeinstance_id: "" ×8 + 3.61sINFOobjective_server_node ×8 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690321.78750515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380586 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690322.86760235 seconds ×3 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690323.45867682 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.34sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690323.46116543 seconds ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.936320 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.99sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690324.10729074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690324.15828705 seconds ×3 + 6.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690324.74525833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471703 ms (missed cycles : 3).[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 | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.4s | 42 warnings · 730 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/2026-09-18-00-07-27-256026-48d73f526955-7201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695043 ms (missed cycles : 5). + 0.77sINFOros2_control_node-1process started with pid [7249] ×2 + 0.77sINFOmove_group-9process started with pid [7268] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7269] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7270] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7271] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7272] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7273] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7274] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7275] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [7276] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [7277] ×2 + 0.77sINFOweb_bridge-19process started with pid [7278] ×2 + 0.77sINFOtf2_web_republisher_node-20process started with pid [7363] ×2 + 0.77sINFOvideo_server-21process started with pid [7366] ×2 + 0.77sINFOweb_bridge_auth_proxy-22process started with pid [7367] ×2 + 0.77sINFOweb_video_auth_proxy-23process started with pid [7368] ×2 + 0.77sINFOros2-2process started with pid [7250] ×2 + 0.77sINFOros2-3process started with pid [7251] ×2 + 0.77sINFOros2-4process started with pid [7252] ×2 + 0.77sINFOros2-5process started with pid [7253] ×2 + 0.77sINFOros2-6process started with pid [7254] ×2 + 0.77sINFOros2-7process started with pid [7255] ×2 + 0.77sINFOros2-8process started with pid [7256] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695043 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF configuration loaded from /tmp/moveit-webrtc-7xnyugqk/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.49sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOmove_group[2026-09-18 00:07:29.582] [moveit_pro_license] [info] ×2 + 1.95sINFOmove_group************************************************* ×4 + 1.95sINFOmove_group* MoveIt Pro License ×2 + 1.95sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_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 + 2.06sINFOros2_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 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.23sINFOwaypoint_manager_node[2026-09-18 00:07:29.859] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.24sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053487 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053487 ms (missed cycles : 2).[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 3.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOobjective_server_node[2026-09-18 00:07:31.047] [moveit_pro_license] [info] ×2 + 3.42sINFOobjective_server_node************************************************* ×4 + 3.42sINFOobjective_server_node* MoveIt Pro License ×2 + 3.42sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.88sINFOcomponent_container_mt[2026-09-18 00:07:31.509] [moveit_pro_license] [info] ×2 + 3.88sINFOcomponent_container_mt************************************************* ×4 + 3.88sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.88sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.07sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.07sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.09sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.09sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.10sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.10sWARNros2_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 + 4.10sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.10sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.10sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.10sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.10sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.10sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.10sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.10sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.10sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.10sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.10sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.10sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.10sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.10sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.10sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.10sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.10sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.10sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.10sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.24sWARNobjective_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 + 4.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 4.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 4.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.41sINFOros2_control_node[2026-09-18 00:07:32.040] [info] Controller state will be published at 20 Hz. ×2 + 4.41sINFOros2_control_node[2026-09-18 00:07:32.041] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.61sINFOros2_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 + 4.61sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.61sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387535 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387535 ms (missed cycles : 2).[0m ×2 + 4.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.71sINFOros2-8process has finished cleanly [pid 7256] ×2 + 4.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 4.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 4.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.84sINFOros2_control_node[2026-09-18 00:07:32.468] [info] Controller state will be published at 10 Hz. ×2 + 4.84sINFOros2_control_node[2026-09-18 00:07:32.469] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 5.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 5.16sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.17sINFOforce_torque_sensor_broadcasterconfigure successful + 5.17sINFOros2_control_nodeconfigure successful[0m ×2 + 5.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.17sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.19sINFOros2-7process has finished cleanly [pid 7255] ×2 + 5.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 5.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 5.52sINFOros2-2process has finished cleanly [pid 7250] ×2 + 5.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.55sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.55sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.55sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.87sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.87sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.87sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.87sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 5.87sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 5.89sINFOros2-4process has finished cleanly [pid 7252] ×2 + 5.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.93sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.93sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.93sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.93sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.94sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.24sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.24sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.25sINFOros2-5process has finished cleanly [pid 7253] ×2 + 6.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 6.31sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 6.35sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.35sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.35sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.37sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.37sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.39sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.39sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 6.40sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 6.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 6.71sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.71sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.73sINFOros2-6process has finished cleanly [pid 7254] ×2 + 6.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.74sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.74sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.91sINFOobjective_server_nodecaller: ×10 + 6.91sINFOobjective_server_nodetype: 0 ×10 + 6.91sINFOobjective_server_nodename: "" ×10 + 6.91sINFOobjective_server_nodeinstance_id: "" ×10 + 6.91sINFOobjective_server_node ×10 + 6.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 6.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 6.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×5 + 6.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×10 + 7.08sINFOros2-3process has finished cleanly [pid 7251] ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 7.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.51sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.56sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.25sWARNros2_control_nodeCamera render tick took 1.78 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 + 8.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 9.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.10sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 9.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 10.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 402 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 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.17sINFOros2-3process has finished cleanly [pid 7251] ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.33sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 7.21sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.69sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 7.69sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 446 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7254] ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.84sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 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/2026-09-18-00-07-27-256026-48d73f526955-7201 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.68sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.68sINFOcontroller_managerupdate rate is 600 Hz + 0.68sINFOcontroller_managerOverruns handling is : enabled + 0.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.68sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695043 ms (missed cycles : 5). + 0.77sINFOros2_control_node-1process started with pid [7249] ×2 + 0.77sINFOmove_group-9process started with pid [7268] ×2 + 0.77sINFOparameter_manager_node-10process started with pid [7269] ×2 + 0.77sINFOwaypoint_manager_node-11process started with pid [7270] ×2 + 0.77sINFOmove_joint_resampler_node-12process started with pid [7271] ×2 + 0.77sINFOmove_end_effector_resampler_node-13process started with pid [7272] ×2 + 0.77sINFOobjective_server_node_main-14process started with pid [7273] ×2 + 0.77sINFOcomponent_container_mt-15process started with pid [7274] ×2 + 0.77sINFOcomponent_container_mt-16process started with pid [7275] ×2 + 0.77sINFOexecute_objective_bridge-17process started with pid [7276] ×2 + 0.77sINFOui_teleop_bridge-18process started with pid [7277] ×2 + 0.77sINFOweb_bridge-19process started with pid [7278] ×2 + 0.77sINFOtf2_web_republisher_node-20process started with pid [7363] ×2 + 0.77sINFOvideo_server-21process started with pid [7366] ×2 + 0.77sINFOweb_bridge_auth_proxy-22process started with pid [7367] ×2 + 0.77sINFOweb_video_auth_proxy-23process started with pid [7368] ×2 + 0.77sINFOros2-2process started with pid [7250] ×2 + 0.77sINFOros2-3process started with pid [7251] ×2 + 0.77sINFOros2-4process started with pid [7252] ×2 + 0.77sINFOros2-5process started with pid [7253] ×2 + 0.77sINFOros2-6process started with pid [7254] ×2 + 0.77sINFOros2-7process started with pid [7255] ×2 + 0.77sINFOros2-8process started with pid [7256] ×2 + 0.79sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.79sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.79sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.79sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.79sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.79sWARNros2_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 + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695043 ms (missed cycles : 5).[0m ×2 + 0.89sINFOcontroller_managerReceived robot description from topic. + 0.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF configuration loaded from /tmp/moveit-webrtc-7xnyugqk/mediamtx.yml ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.15sINFOvideo_server2026/09/18 00:07:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.49sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.95sINFOmove_group[2026-09-18 00:07:29.582] [moveit_pro_license] [info] ×2 + 1.95sINFOmove_group************************************************* ×4 + 1.95sINFOmove_group* MoveIt Pro License ×2 + 1.95sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.06sINFOros2_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 + 2.06sINFOros2_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 + 2.19sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.23sINFOwaypoint_manager_node[2026-09-18 00:07:29.859] [moveit_pro_license] [info] ×2 + 2.23sINFOwaypoint_manager_node************************************************* ×4 + 2.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.24sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053487 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053487 ms (missed cycles : 2).[0m ×2 + 2.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.41sINFOmove_group ×4 + 2.41sINFOmove_group[92mYou can start planning now![0m ×2 + 3.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOobjective_server_node[2026-09-18 00:07:31.047] [moveit_pro_license] [info] ×2 + 3.42sINFOobjective_server_node************************************************* ×4 + 3.42sINFOobjective_server_node* MoveIt Pro License ×2 + 3.42sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOobjective_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 + 3.54sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.63sINFOlaunch_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 | 25 warnings · 513 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7250] ×2 + 0.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.88sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.18sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.18sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2-6process has finished cleanly [pid 7254] ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.56sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_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 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 513 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7250] ×2 + 0.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.88sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.18sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.18sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2-6process has finished cleanly [pid 7254] ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.56sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_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 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 513 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 7250] ×2 + 0.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.23sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149346 ms (missed cycles : 2).[0m ×2 + 0.37sINFOros2-4process has finished cleanly [pid 7252] ×2 + 0.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.72sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.87sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.88sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.18sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.18sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.18sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 1.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.21sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.21sINFOros2-6process has finished cleanly [pid 7254] ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.22sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.22sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.39sINFOobjective_server_nodecaller: ×14 + 1.39sINFOobjective_server_nodetype: 0 ×14 + 1.39sINFOobjective_server_nodename: "" ×14 + 1.39sINFOobjective_server_nodeinstance_id: "" ×14 + 1.39sINFOobjective_server_node ×14 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.56sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.73sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.86sINFOobjective_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 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.73sINFOobjective_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 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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 + 5.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 446 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.01sINFOros2-5process has finished cleanly [pid 7253] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-09-18 00:07:33.997] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-18 00:07:34.021] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-18 00:07:34.021] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-09-18 00:07:34.026] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.46sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.46sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis + 0.46sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_hcheb6tj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hv5qp0a3 --params-file /tmp/launch_params_xs3vfpis [0m ×2 + 0.47sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.47sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOros2-6process has finished cleanly [pid 7254] ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.67sINFOobjective_server_nodecaller: ×14 + 0.67sINFOobjective_server_nodetype: 0 ×14 + 0.67sINFOobjective_server_nodename: "" ×14 + 0.67sINFOobjective_server_nodeinstance_id: "" ×14 + 0.68sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.84sINFOros2-3process has finished cleanly [pid 7251] ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.01sWARNros2_control_nodeCamera render tick took 1.78 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 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 2.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 5.83sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.85sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 5.85sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 386 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 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690054.59531713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690054.60555792 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.17sINFOros2-3process has finished cleanly [pid 7251] ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484300 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690055.19233775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sWARNros2_control_nodeCamera render tick took 1.78 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.18sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391851 ms (missed cycles : 5). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.391851 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.78 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 + 0.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690056.10247254 seconds ×3 + 0.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478012 ms (missed cycles : 4).[0m ×2 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.80sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.80sINFOobjective_server_nodecaller: ×10 + 0.80sINFOobjective_server_nodetype: 0 ×10 + 0.80sINFOobjective_server_nodename: "" ×10 + 0.80sINFOobjective_server_nodeinstance_id: "" ×10 + 0.80sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690056.72458959 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.91sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690056.78474426 seconds ×3 + 1.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690057.44104433 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690057.46117234 seconds ×3 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118861 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690058.06672788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690058.21733618 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798801 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690058.92959690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690058.97969484 seconds ×3 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690059.58267593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.241101 ms (missed cycles : 7).[0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.1712e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-18 00:07:39.719] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.459713 ms (missed cycles : 7).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.456160 ms (missed cycles : 7).[0m ×2 + 6.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-09-18 00:07:42.227] [info] Accepted new action goal ×2 | ||||