129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 161 warnings · 21102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785274 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785274 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690438.38881540 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOobjective_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: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690439.02418637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.66sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.21sWARNros2_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 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2).[0m ×2 + 7.03sINFOjoint_trajectory_controllerReceived new action goal ×3473 + 7.03sINFOjoint_trajectory_controllerAccepted new action goal ×3473 + 7.03sINFOros2_control_nodeReceived new action goal[0m ×6946 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×6946 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846253 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846253 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616725 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616725 ms (missed cycles : 4).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877146 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877146 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112958 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.112958 ms (missed cycles : 4).[0m ×2 + 11.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862993 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862993 ms (missed cycles : 2).[0m ×2 + 12.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.01sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.01sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536863 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536863 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746985 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746985 ms (missed cycles : 2).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805601 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805601 ms (missed cycles : 2).[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776350 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776350 ms (missed cycles : 2).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957560 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957560 ms (missed cycles : 3).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281893 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281893 ms (missed cycles : 2).[0m ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245179 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245179 ms (missed cycles : 2).[0m ×2 + 19.35sWARNros2_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 ×4 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739542 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739542 ms (missed cycles : 2).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745241 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745241 ms (missed cycles : 2).[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622484 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622484 ms (missed cycles : 2).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716635 ms (missed cycles : 2). + 23.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716635 ms (missed cycles : 2).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850702 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850702 ms (missed cycles : 2).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211342 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211342 ms (missed cycles : 2).[0m ×2 + 26.39sWARNros2_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 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812624 ms (missed cycles : 5). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812624 ms (missed cycles : 5).[0m ×2 + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956090 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956090 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688597 ms (missed cycles : 2). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688597 ms (missed cycles : 2).[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679904 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679904 ms (missed cycles : 2).[0m ×2 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860710 ms (missed cycles : 5). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.860710 ms (missed cycles : 5).[0m ×2 + 31.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.981618 ms (missed cycles : 7). + 31.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.981618 ms (missed cycles : 7).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476542 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476542 ms (missed cycles : 2).[0m ×2 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842178 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842178 ms (missed cycles : 2).[0m ×2 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970996 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970996 ms (missed cycles : 2).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.849447 ms (missed cycles : 7). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.849447 ms (missed cycles : 7).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894041 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894041 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973342 ms (missed cycles : 3). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973342 ms (missed cycles : 3).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682395 ms (missed cycles : 2). + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682395 ms (missed cycles : 2).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060742 ms (missed cycles : 3). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060742 ms (missed cycles : 3).[0m ×2 + 40.44sWARNros2_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 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188501 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188501 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868197 ms (missed cycles : 3). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868197 ms (missed cycles : 3).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831430 ms (missed cycles : 2). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831430 ms (missed cycles : 2).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858620 ms (missed cycles : 2). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858620 ms (missed cycles : 2).[0m ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940832 ms (missed cycles : 2). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940832 ms (missed cycles : 2).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918668 ms (missed cycles : 3). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918668 ms (missed cycles : 3).[0m ×2 + 47.38sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690482.90247917 seconds ×3 + 47.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.39sWARNros2_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 + 47.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879455 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879455 ms (missed cycles : 3).[0m ×2 + 47.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.93sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690483.53938198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.17sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 48.18sINFOros2_control_node[2026-09-18 00:14:43.703] [info] Received new action goal ×2 + 48.18sINFOros2_control_node[2026-09-18 00:14:43.703] [info] Accepted new action goal ×2 + 48.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624886 ms (missed cycles : 2). + 48.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624886 ms (missed cycles : 2).[0m ×2 + 49.72sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209446 ms (missed cycles : 2). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209446 ms (missed cycles : 2).[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741745 ms (missed cycles : 2). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741745 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 153 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310517 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310517 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-18 00:13:08.939] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-18 00:13:08.939] [info] Accepted new action goal ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427004 ms (missed cycles : 3). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427004 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152791 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152791 ms (missed cycles : 3).[0m ×2 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-09-18 00:13:12.119] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-09-18 00:13:12.119] [info] Accepted new action goal ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.824642 ms (missed cycles : 6). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.824642 ms (missed cycles : 6).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982800 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982800 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997536 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997536 ms (missed cycles : 3).[0m ×2 + 12.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.31sINFOros2_control_node[2026-09-18 00:13:15.142] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-09-18 00:13:15.142] [info] Accepted new action goal ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377282 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377282 ms (missed cycles : 2).[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127387 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127387 ms (missed cycles : 3).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943218 ms (missed cycles : 5). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943218 ms (missed cycles : 5).[0m ×2 + 16.28sINFOobjective_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 + 16.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135259 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135259 ms (missed cycles : 3).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.183576 ms (missed cycles : 6). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.183576 ms (missed cycles : 6).[0m ×2 + 19.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366439 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366439 ms (missed cycles : 2).[0m ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421260 ms (missed cycles : 4). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421260 ms (missed cycles : 4).[0m ×2 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825843 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825843 ms (missed cycles : 2).[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839587 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839587 ms (missed cycles : 3).[0m ×2 + 23.06sINFOobjective_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 + 23.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.06sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.06sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.06sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.06sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459895 ms (missed cycles : 4). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.459895 ms (missed cycles : 4).[0m ×2 + 24.01sINFOros2_control_node[2026-09-18 00:13:25.833] [info] Received new action goal ×2 + 24.01sINFOros2_control_node[2026-09-18 00:13:25.833] [info] Accepted new action goal ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228011 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228011 ms (missed cycles : 2).[0m ×2 + 25.17sINFOobjective_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 + 25.18sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.46sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 25.46sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.50sINFOros2_control_node[2026-09-18 00:13:27.327] [info] Received new action goal ×2 + 25.50sINFOros2_control_node[2026-09-18 00:13:27.327] [info] Accepted new action goal ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297455 ms (missed cycles : 4). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297455 ms (missed cycles : 4).[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439423 ms (missed cycles : 5). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439423 ms (missed cycles : 5).[0m ×2 + 27.64sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 27.64sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.66sINFOros2_control_node[2026-09-18 00:13:29.483] [info] Received new action goal ×2 + 27.66sINFOros2_control_node[2026-09-18 00:13:29.483] [info] Accepted new action goal ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497364 ms (missed cycles : 4). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497364 ms (missed cycles : 4).[0m ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099506 ms (missed cycles : 6). + 29.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.099506 ms (missed cycles : 6).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462581 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462581 ms (missed cycles : 2).[0m ×2 + 30.65sINFOros2_control_node[2026-09-18 00:13:32.473] [info] Received new action goal ×2 + 30.65sINFOros2_control_node[2026-09-18 00:13:32.473] [info] Accepted new action goal ×2 + 30.85sWARNros2_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 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777985 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777985 ms (missed cycles : 2).[0m ×2 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194800 ms (missed cycles : 2). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194800 ms (missed cycles : 2).[0m ×2 + 33.06sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 33.07sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.13sINFOros2_control_node[2026-09-18 00:13:34.959] [info] Received new action goal ×2 + 33.13sINFOros2_control_node[2026-09-18 00:13:34.959] [info] Accepted new action goal ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161016 ms (missed cycles : 2). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161016 ms (missed cycles : 2).[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037466 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.037466 ms (missed cycles : 3).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723610 ms (missed cycles : 4). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.723610 ms (missed cycles : 4).[0m ×2 + 35.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926423 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926423 ms (missed cycles : 3).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656715 ms (missed cycles : 6). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656715 ms (missed cycles : 6).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711103 ms (missed cycles : 4). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711103 ms (missed cycles : 4).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149084 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149084 ms (missed cycles : 2).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059840 ms (missed cycles : 4). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059840 ms (missed cycles : 4).[0m ×2 + 41.89sWARNros2_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 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445004 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445004 ms (missed cycles : 3).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580499 ms (missed cycles : 2). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580499 ms (missed cycles : 2).[0m ×2 + 43.41sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.81sINFOros2_control_node[2026-09-18 00:13:45.639] [info] Received new action goal ×2 + 43.81sINFOros2_control_node[2026-09-18 00:13:45.639] [info] Accepted new action goal ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000597 ms (missed cycles : 8). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000597 ms (missed cycles : 8).[0m ×2 + 44.96sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789690426.79165173 seconds ×3 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793093 ms (missed cycles : 2). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793093 ms (missed cycles : 2).[0m ×2 + 45.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.56sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 45.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789690427.60694695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066407 ms (missed cycles : 2). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066407 ms (missed cycles : 2).[0m ×2 + 46.79sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 46.81sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 46.82sINFOros2_control_node[2026-09-18 00:13:48.651] [info] Received new action goal ×2 + 46.82sINFOros2_control_node[2026-09-18 00:13:48.651] [info] Accepted new action goal ×2 + 47.03sWARNros2_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 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002177 ms (missed cycles : 2). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002177 ms (missed cycles : 2).[0m ×2 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318401 ms (missed cycles : 5). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318401 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.2s | 92 warnings · 14436 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2373 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2373 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4746 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858620 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858620 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940832 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940832 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918668 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918668 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690482.90247917 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sWARNros2_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 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879455 ms (missed cycles : 3). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879455 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690483.53938198 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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.09sINFOros2_control_node[2026-09-18 00:14:43.703] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-18 00:14:43.703] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624886 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624886 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.40sINFOobjective_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 + 5.43sINFOobjective_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 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.63sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209446 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209446 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741745 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741745 ms (missed cycles : 2).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712384 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712384 ms (missed cycles : 2).[0m ×2 + 8.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104232 ms (missed cycles : 2). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104232 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143379 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143379 ms (missed cycles : 3).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670600 ms (missed cycles : 3). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670600 ms (missed cycles : 3).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959699 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959699 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735061 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735061 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158102 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158102 ms (missed cycles : 2).[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567886 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567886 ms (missed cycles : 2).[0m ×2 + 15.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974539 ms (missed cycles : 2). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974539 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717914 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717914 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768985 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768985 ms (missed cycles : 2).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212585 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212585 ms (missed cycles : 2).[0m ×2 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130025 ms (missed cycles : 2). + 20.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130025 ms (missed cycles : 2).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821111 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821111 ms (missed cycles : 3).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 23.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 25.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 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: ""
+ 26.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.35sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 26.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.36sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 26.36sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 241 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.67sINFOobjective_server_nodeFound path in 1 iterations (0.0034206 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.91sINFOros2_control_node[2026-09-18 00:12:46.152] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-09-18 00:12:46.153] [info] Accepted new action goal ×2 + 1.34sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.23sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.26sERRORobjective_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: 1789690368.50057364 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.94sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.94sINFOobjective_server_nodecaller: ×6 + 3.94sINFOobjective_server_nodetype: 0 ×6 + 3.94sINFOobjective_server_nodename: "" ×6 + 3.94sINFOobjective_server_nodeinstance_id: "" ×6 + 3.94sINFOobjective_server_node ×6 + 4.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690369.32063150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Accepted new action goal ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659406 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659406 ms (missed cycles : 4).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598209 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598209 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421802 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421802 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799925 ms (missed cycles : 5). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799925 ms (missed cycles : 5).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948848 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948848 ms (missed cycles : 3).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4).[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690380.55984068 seconds ×3 + 15.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690381.22376800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690381.28389883 seconds ×3 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3).[0m ×2 + 16.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.59sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.75sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 16.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.77sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 16.77sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 18.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.5s | 59 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445004 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445004 ms (missed cycles : 3).[0m ×2 + 1.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.03sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.03sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.03sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.03sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580499 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580499 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-18 00:13:45.639] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-18 00:13:45.639] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000597 ms (missed cycles : 8). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.000597 ms (missed cycles : 8).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789690426.79165173 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793093 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793093 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789690427.60694695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066407 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066407 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.94sINFOros2_control_node[2026-09-18 00:13:48.651] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-09-18 00:13:48.651] [info] Accepted new action goal ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002177 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002177 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318401 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.318401 ms (missed cycles : 5).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.928743 ms (missed cycles : 7). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.928743 ms (missed cycles : 7).[0m ×2 + 8.63sINFOobjective_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 + 8.63sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.63sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.64sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.64sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897917 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897917 ms (missed cycles : 4).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900949 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900949 ms (missed cycles : 2).[0m ×2 + 11.04sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.07sINFOros2_control_node[2026-09-18 00:13:54.783] [info] Received new action goal ×2 + 11.07sINFOros2_control_node[2026-09-18 00:13:54.783] [info] Accepted new action goal ×2 + 11.16sWARNros2_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 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785274 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785274 ms (missed cycles : 4).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690438.38881540 seconds ×3 + 15.22sINFOobjective_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: ""
+ 15.22sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690439.02418637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 15.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.46sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Accepted new action goal ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2).[0m ×2 + 16.73sINFOobjective_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 + 16.74sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.02sWARNros2_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 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2).[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789690354.69755840 seconds ×3 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884293 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884293 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880001 ms (missed cycles : 5). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880001 ms (missed cycles : 5).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745947 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745947 ms (missed cycles : 3).[0m ×2 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690357.98696995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-09-18 00:12:38.201] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-18 00:12:38.201] [info] Accepted new action goal ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470185 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470185 ms (missed cycles : 3).[0m ×2 + 4.37sWARNros2_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 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130095 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130095 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523505 ms (missed cycles : 4). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523505 ms (missed cycles : 4).[0m ×2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.51sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.15e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 5 iterations (0.00532593 s). ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200536 ms (missed cycles : 5). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200536 ms (missed cycles : 5).[0m ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.85sINFOros2_control_node[2026-09-18 00:12:43.243] [info] Received new action goal ×2 + 8.85sINFOros2_control_node[2026-09-18 00:12:43.243] [info] Accepted new action goal ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358067 ms (missed cycles : 3). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358067 ms (missed cycles : 3).[0m ×2 + 9.43sWARNros2_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 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485895 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485895 ms (missed cycles : 3).[0m ×2 + 10.84sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3).[0m ×2 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 11.52sINFOobjective_server_nodeFound path in 1 iterations (0.0034206 s). ×2 + 11.69sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.76sINFOros2_control_node[2026-09-18 00:12:46.152] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-09-18 00:12:46.153] [info] Accepted new action goal ×2 + 12.19sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Accepted new action goal ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2).[0m ×2 + 14.06sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.07sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.10sERRORobjective_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: 1789690368.50057364 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3).[0m ×2 + 14.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.78sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690369.32063150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 15.06sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Accepted new action goal ×2 + 15.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2).[0m ×2 + 17.59sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Received new action goal ×2 + 17.59sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 55 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291772 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291772 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847758 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847758 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.75sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 1.78sINFOros2_control_node[2026-09-18 00:11:51.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-18 00:11:51.867] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901511 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901511 ms (missed cycles : 6).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.27sINFOros2_control_node[2026-09-18 00:11:52.363] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-18 00:11:52.363] [info] Canceling active goal... ×2 + 2.29sERRORobjective_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: 1789690312.37938309 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.83sINFOobjective_server_nodecaller: ×6 + 2.83sINFOobjective_server_nodetype: 0 ×6 + 2.83sINFOobjective_server_nodename: "" ×6 + 2.83sINFOobjective_server_nodeinstance_id: "" ×6 + 2.83sINFOobjective_server_node ×6 + 2.90sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690312.98924136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.12sINFOros2_control_node[2026-09-18 00:11:53.213] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-18 00:11:53.213] [info] Accepted new action goal ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975460 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975460 ms (missed cycles : 4).[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540133 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540133 ms (missed cycles : 3).[0m ×2 + 4.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666110 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666110 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.41sINFOros2_control_node[2026-09-18 00:11:55.503] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-18 00:11:55.503] [info] Accepted new action goal ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088099 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.088099 ms (missed cycles : 5).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820799 ms (missed cycles : 5). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820799 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977000 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977000 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852076 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852076 ms (missed cycles : 2).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4).[0m ×2 + 10.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 12.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 12.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 12.13sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 12.43sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 12.43sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 12.44sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 12.47sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 12.53sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 12.56sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 12.72sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 12.81sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 12.81sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 13.28sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 13.28sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 13.30sERRORobjective_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: 1789690323.39021373 seconds ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.92sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.00sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 14.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.93sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690537.36087418 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.42sINFOobjective_server_nodecaller: ×8 + 3.42sINFOobjective_server_nodetype: 0 ×8 + 3.42sINFOobjective_server_nodename: "" ×8 + 3.42sINFOobjective_server_nodeinstance_id: "" ×8 + 3.42sINFOobjective_server_node ×8 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690538.02184081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726619 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726619 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070137 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070137 ms (missed cycles : 3).[0m ×2 + 8.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853080 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853080 ms (missed cycles : 3).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767622 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767622 ms (missed cycles : 2).[0m ×2 + 10.71sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 13.34sWARNros2_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 + 13.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.82sERRORobjective_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: 1789690548.36211181 seconds ×3 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 14.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.07sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 15.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.71sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.88sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 15.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.89sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764528 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764528 ms (missed cycles : 4).[0m ×2 + 6.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.93sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.93sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.21sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.39sINFOobjective_server_nodeFound path in 5 iterations (0.00517796 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 7.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488046 ms (missed cycles : 4). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488046 ms (missed cycles : 4).[0m ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.10sINFOros2_control_node[2026-09-18 00:12:32.132] [info] Received new action goal ×2 + 8.10sINFOros2_control_node[2026-09-18 00:12:32.132] [info] Accepted new action goal ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398633 ms (missed cycles : 5). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398633 ms (missed cycles : 5).[0m ×2 + 8.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032285 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032285 ms (missed cycles : 3).[0m ×2 + 10.36sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.63sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.63sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.64sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789690354.69755840 seconds ×3 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884293 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884293 ms (missed cycles : 2).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880001 ms (missed cycles : 5). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880001 ms (missed cycles : 5).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745947 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745947 ms (missed cycles : 3).[0m ×2 + 13.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.86sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.95sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690357.98696995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 14.17sINFOros2_control_node[2026-09-18 00:12:38.201] [info] Received new action goal ×2 + 14.17sINFOros2_control_node[2026-09-18 00:12:38.201] [info] Accepted new action goal ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470185 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470185 ms (missed cycles : 3).[0m ×2 + 14.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741065 ms (missed cycles : 2).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130095 ms (missed cycles : 3). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130095 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 + 6.92sWARNros2_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 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766177 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766177 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799662 ms (missed cycles : 4). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799662 ms (missed cycles : 4).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241123 ms (missed cycles : 5). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241123 ms (missed cycles : 5).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2).[0m ×2 + 13.14sWARNros2_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 + 13.89sERRORobjective_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: 1789690526.86330056 seconds ×3 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.43sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690527.46190977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.79sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 59 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 0.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 0.10sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 0.10sERRORobjective_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: 1789690560.37211418 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 1.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.37sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.67sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690563.97602820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690564.83615398 seconds ×3 + 4.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849133 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849133 ms (missed cycles : 4).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391517 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391517 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629290 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629290 ms (missed cycles : 3).[0m ×2 + 8.74sWARNros2_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 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401849 ms (missed cycles : 5). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401849 ms (missed cycles : 5).[0m ×2 + 10.11sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.14sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.14sERRORweb_video_auth_proxy-23process has died [pid 7360, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.14sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.15sERRORweb_bridge_auth_proxy-22process has died [pid 7359, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.15sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.15sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.16sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.17sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.17sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.17sINFOvideo_server-21process has finished cleanly [pid 7358] ×2 + 10.18sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.18sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.19sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.19sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.20sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.21sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.21sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.22sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.22sINFOcontroller_managerShutdown request received.... + 10.22sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.22sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.22sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.22sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.22sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.22sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.22sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.22sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.22sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.22sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.22sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.22sINFOvideo_server2026/09/18 00:16:10 INF shutting down gracefully ×2 + 10.22sINFOvideo_server2026/09/18 00:16:10 INF [WebRTC] closing ×2 + 10.22sINFOvideo_server2026/09/18 00:16:10 INF [RTSP] closing ×2 + 10.22sINFOvideo_server2026/09/18 00:16:10 INF waiting for running hooks ×2 + 10.22sINFOcontroller_managerShutting down the controller manager. + 10.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.22sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.22sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.22sERRORmove_groupStack trace (most recent call last) in thread 7699: ×2 + 10.22sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.22sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.22sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0bffb1ba63, in __clone ×2 + 10.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0bffa8eaa3, in ×2 + 10.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0bffd20db3, in ×2 + 10.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.23sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f0c00484b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0c000b2620, in rclcpp::Rate::sleep() ×2 + 10.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0bffff4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0bfffb6087, in ×2 + 10.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0bffcef390, in __cxa_throw ×2 + 10.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0bffcd9a54, in std::terminate() ×2 + 10.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0bffcef0d9, in ×2 + 10.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0bffcd9ff4, in ×2 + 10.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0bffa1a8fe, in abort ×2 + 10.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0bffa3727d, in raise ×2 + 10.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0bffa90b2c, in pthread_kill ×2 + 10.23sERRORmove_groupAborted (Signal sent by tkill() 7272 0) ×2 + 10.24sERRORmove_group-9process has died [pid 7272, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_yw825xc6 --params-file /tmp/launch_params_drtvjk_g --params-file /tmp/launch_params_1j2eki89 --params-file /tmp/launch_params_kavkn47c --params-file /tmp/launch_params_5zkmfflb --params-file /tmp/launch_params_oz94i0cm']. ×2 + 10.43sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.43sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.20sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7357] ×2 + 11.20sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.23sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7276] ×2 + 11.24sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7275] ×2 + 11.27sINFOui_teleop_bridge-18process has finished cleanly [pid 7281] ×2 + 11.27sINFOexecute_objective_bridge-17process has finished cleanly [pid 7280] ×2 + 11.28sINFOparameter_manager_node-10process has finished cleanly [pid 7273] ×2 + 11.28sINFOwaypoint_manager_node-11process has finished cleanly [pid 7274] ×2 + 11.34sINFOobjective_server_node[0;m[2026-09-18 00:16:11.603] [moveit_pro_license] [critical] ×2 + 11.34sINFOobjective_server_node************************************************* ×4 + 11.34sINFOobjective_server_node* MoveIt Pro License ×2 + 11.34sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.34sINFOcomponent_container_mt-16process has finished cleanly [pid 7279] ×2 + 11.46sINFOobjective_server_node_main-14process has finished cleanly [pid 7277] ×2 + 11.46sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.36sINFOcomponent_container_mt-15process has finished cleanly [pid 7278] ×2 + 12.72sINFOweb_bridge-19process has finished cleanly [pid 7282] ×2 + 12.72sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.87sINFOros2_control_node-1process has finished cleanly [pid 7221] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.17sINFOobjective_server_nodecaller: ×6 + 2.17sINFOobjective_server_nodetype: 0 ×6 + 2.17sINFOobjective_server_nodename: "" ×6 + 2.17sINFOobjective_server_nodeinstance_id: "" ×6 + 2.17sINFOobjective_server_node ×6 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378521 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.378521 ms (missed cycles : 6).[0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.53sINFOros2_control_node[2026-09-18 00:12:19.745] [info] Received new action goal ×2 + 6.53sINFOros2_control_node[2026-09-18 00:12:19.745] [info] Accepted new action goal ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205098 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205098 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718706 ms (missed cycles : 5). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.718706 ms (missed cycles : 5).[0m ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.86sINFOros2_control_node[2026-09-18 00:12:22.083] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-09-18 00:12:22.083] [info] Accepted new action goal ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295909 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295909 ms (missed cycles : 3).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 11.22sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 13.14sINFOobjective_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 + 13.14sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 13.14sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 13.15sERRORobjective_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: 1789690346.37462020 seconds ×3 + 13.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.72sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.79sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 13.98sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 13.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.00sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 14.00sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×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 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 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: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_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 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 3.61sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.12sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.12sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 + 6.48sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749135 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749135 ms (missed cycles : 3).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427618 ms (missed cycles : 6). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427618 ms (missed cycles : 6).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328099 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328099 ms (missed cycles : 3).[0m ×2 + 9.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.77sINFOros2_control_node[2026-09-18 00:11:48.527] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-09-18 00:11:48.527] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771312 ms (missed cycles : 5). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771312 ms (missed cycles : 5).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291772 ms (missed cycles : 2). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291772 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847758 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847758 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 13.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.11sINFOros2_control_node[2026-09-18 00:11:51.867] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-09-18 00:11:51.867] [info] Accepted new action goal ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901511 ms (missed cycles : 6). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901511 ms (missed cycles : 6).[0m ×2 + 13.60sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.60sINFOros2_control_node[2026-09-18 00:11:52.363] [info] Got request to cancel active goal. ×2 + 13.60sINFOros2_control_node[2026-09-18 00:11:52.363] [info] Canceling active goal... ×2 + 13.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690312.37938309 seconds ×3 + 13.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.16sINFOobjective_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: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690312.98924136 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 14.45sINFOros2_control_node[2026-09-18 00:11:53.213] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-09-18 00:11:53.213] [info] Accepted new action goal ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975460 ms (missed cycles : 4). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975460 ms (missed cycles : 4).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540133 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540133 ms (missed cycles : 3).[0m ×2 + 16.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666110 ms (missed cycles : 4). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.666110 ms (missed cycles : 4).[0m ×2 + 16.72sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 16.73sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.74sINFOros2_control_node[2026-09-18 00:11:55.503] [info] Received new action goal ×2 + 16.74sINFOros2_control_node[2026-09-18 00:11:55.503] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2398 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.92sINFOobjective_server_nodecaller: ×4 + 3.92sINFOobjective_server_nodetype: 0 ×4 + 3.92sINFOobjective_server_nodename: "" ×4 + 3.92sINFOobjective_server_nodeinstance_id: "" ×4 + 3.92sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 + 7.22sWARNros2_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 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026773 ms (missed cycles : 4). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026773 ms (missed cycles : 4).[0m ×2 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.41sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.42sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.81sINFOobjective_server_nodeFound path in 1 iterations (0.00463879 s). ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.880157 ms (missed cycles : 7). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.880157 ms (missed cycles : 7).[0m ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.02sINFOros2_control_node[2026-09-18 00:15:10.785] [info] Received new action goal ×2 + 9.02sINFOros2_control_node[2026-09-18 00:15:10.785] [info] Accepted new action goal ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372207 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372207 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 11.33sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 11.33sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 12.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.01sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 13.01sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 14.10sINFOobjective_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 + 14.11sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 14.11sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 14.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 14.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.71sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.00sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 16.90sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 407 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690548.36211181 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.47sINFOobjective_server_nodecaller: ×14 + 2.47sINFOobjective_server_nodetype: 0 ×14 + 2.47sINFOobjective_server_nodename: "" ×14 + 2.47sINFOobjective_server_nodeinstance_id: "" ×14 + 2.47sINFOobjective_server_node ×14 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835763 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835763 ms (missed cycles : 2).[0m ×2 + 7.27sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.27sINFOros2_control_node[2026-09-18 00:15:53.731] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-09-18 00:15:53.731] [info] Accepted new action goal ×2 + 7.27sINFOros2_control_node[2026-09-18 00:15:53.731] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101793 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101793 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569750 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569750 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7).[0m ×2 + 12.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 13.91sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 13.91sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 13.91sERRORobjective_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: 1789690560.37211418 seconds ×3 + 14.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 16.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.18sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 16.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 17.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.43sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.7s | 3 errors · 55 warnings · 301 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 0.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.96sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.21sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1789690323.39021373 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.32sINFOobjective_server_nodecaller: ×8 + 2.32sINFOobjective_server_nodetype: 0 ×8 + 2.32sINFOobjective_server_nodename: "" ×8 + 2.32sINFOobjective_server_nodeinstance_id: "" ×8 + 2.32sINFOobjective_server_node ×8 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643038 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643038 ms (missed cycles : 4).[0m ×2 + 7.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002275 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002275 ms (missed cycles : 2).[0m ×2 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 1 iterations (0.00364895 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 7.93sINFOros2_control_node[2026-09-18 00:12:09.615] [info] Received new action goal ×2 + 7.93sINFOros2_control_node[2026-09-18 00:12:09.615] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701760 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701760 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645658 ms (missed cycles : 4). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645658 ms (missed cycles : 4).[0m ×2 + 10.24sINFOros2_control_node[2026-09-18 00:12:11.921] [info] Received new action goal ×2 + 10.24sINFOros2_control_node[2026-09-18 00:12:11.921] [info] Accepted new action goal ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915376 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915376 ms (missed cycles : 3).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 11.86sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.87sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 12.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 13.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 13.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.71sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 13.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.53sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 14.69sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 14.71sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_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 + 3.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690526.86330056 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690527.46190977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.90sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162800 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162800 ms (missed cycles : 2).[0m ×2 + 7.89sWARNros2_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 + 7.91sINFOros2_control_node[2026-09-18 00:15:31.775] [info] Received new action goal ×2 + 7.91sINFOros2_control_node[2026-09-18 00:15:31.775] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416814 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.416814 ms (missed cycles : 4).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062194 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062194 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5).[0m ×2 + 13.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690537.36087418 seconds ×3 + 13.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 14.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.09sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2).[0m ×2 + 14.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690538.02184081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 14.28sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.29sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4).[0m ×2 + 16.21sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690380.55984068 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690381.22376800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690381.28389883 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.37sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.45sINFOobjective_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 + 7.46sINFOobjective_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 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.79sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1789690560.37211418 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.82sINFOobjective_server_nodecaller: ×8 + 3.82sINFOobjective_server_nodetype: 0 ×8 + 3.82sINFOobjective_server_nodename: "" ×8 + 3.82sINFOobjective_server_nodeinstance_id: "" ×8 + 3.82sINFOobjective_server_node ×8 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_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 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 6.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690563.97602820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2).[0m ×2 + 7.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690564.83615398 seconds ×3 + 7.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 30 warnings · 673 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.37sINFOcomponent_container_mt[2026-09-18 00:11:34.852] [moveit_pro_license] [info] ×2 + 0.37sINFOcomponent_container_mt************************************************* ×4 + 0.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.74sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.74sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.74sWARNros2_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 + 0.74sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.74sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.74sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.74sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.74sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.74sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.74sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.74sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.74sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.74sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.74sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.74sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.74sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.74sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.74sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.74sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.74sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.74sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.74sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.74sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.74sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.74sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.74sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.98sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.98sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.29sINFOros2-4process has finished cleanly [pid 7224] ×2 + 1.37sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.37sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.39sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 1.39sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.39sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.41sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.43sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.43sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 1.44sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 1.73sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.73sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.73sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.76sINFOros2-6process has finished cleanly [pid 7226] ×2 + 1.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.77sINFOforce_torque_sensor_broadcasterconfigure successful + 1.77sINFOros2_control_nodeconfigure successful[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.78sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.11sINFOros2-2process has finished cleanly [pid 7222] ×2 + 2.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 2.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.22sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 2.22sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.55sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.55sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.55sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.55sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.55sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 2.55sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.56sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.59sINFOros2-8process has finished cleanly [pid 7228] ×2 + 2.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.70sINFOobjective_server_nodecaller: ×14 + 2.70sINFOobjective_server_nodetype: 0 ×14 + 2.70sINFOobjective_server_nodename: "" ×14 + 2.70sINFOobjective_server_nodeinstance_id: "" ×14 + 2.70sINFOobjective_server_node ×14 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.77sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.77sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.90sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.90sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.90sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.90sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.92sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.93sINFOros2-3process has finished cleanly [pid 7223] ×2 + 2.97sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 2.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 3.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.04sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 3.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.39sINFOros2-7process has finished cleanly [pid 7227] ×2 + 3.42sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.42sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.42sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.42sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.42sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.42sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.42sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.43sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.43sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.43sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.43sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.43sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.43sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.72sINFOros2-5process has finished cleanly [pid 7225] ×2 + 4.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.89sWARNros2_control_nodeCamera render tick took 1.82 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 + 4.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 5.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 7.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 7.89sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 7.89sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690380.55984068 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690381.22376800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690381.28389883 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 25 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.58sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.01sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1789690323.39021373 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 7.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:12:11.921] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:12:11.921] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915376 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915376 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 1.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.29sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.47sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 2.63sWARNros2_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 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1789690548.36211181 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 1.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 1.13sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 1.14sERRORobjective_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: 1789690560.37211418 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.68sINFOobjective_server_nodecaller: ×8 + 1.68sINFOobjective_server_nodetype: 0 ×8 + 1.68sINFOobjective_server_nodename: "" ×8 + 1.68sINFOobjective_server_nodeinstance_id: "" ×8 + 1.68sINFOobjective_server_node ×8 + 1.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.40sINFOobjective_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 + 3.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.05sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690563.97602820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690564.83615398 seconds ×3 + 5.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849133 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849133 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 564 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.02sINFOros2_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 + 0.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.02sWARNros2_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 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.39sINFOros2-6process has finished cleanly [pid 7226] ×2 + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOforce_torque_sensor_broadcasterconfigure successful + 0.40sINFOros2_control_nodeconfigure successful[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.74sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×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_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [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 + 1.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.22sINFOros2-8process has finished cleanly [pid 7228] ×2 + 1.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.56sINFOros2-3process has finished cleanly [pid 7223] ×2 + 1.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOros2-7process has finished cleanly [pid 7227] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.06sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.06sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.35sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[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 + 1.63sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 1.63sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 1.63sERRORobjective_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: 1789690560.37211418 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.17sINFOobjective_server_nodecaller: ×8 + 2.17sINFOobjective_server_nodetype: 0 ×8 + 2.17sINFOobjective_server_nodename: "" ×8 + 2.17sINFOobjective_server_nodeinstance_id: "" ×8 + 2.17sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.90sINFOobjective_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 + 3.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 4.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.49sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.20sWARNros2_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 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690563.97602820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257405 ms (missed cycles : 2).[0m ×2 + 6.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690564.83615398 seconds ×3 + 6.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.916814 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690548.36211181 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_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 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.58sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.01sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1789690323.39021373 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762032 ms (missed cycles : 4).[0m ×2 + 0.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 1.58sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 1.90sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 2.01sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 2.75sERRORobjective_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: 1789690323.39021373 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.18sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.96sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.21sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1789690323.39021373 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.96sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.21sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1789690323.39021373 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.96sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.21sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1789690323.39021373 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553145 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.54sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 0.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 0.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.96sINFOobjective_server_nodeFound path in 1 iterations (0.00318657 s). ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687165 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 1.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.21sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Received new action goal ×2 + 1.22sINFOros2_control_node[2026-09-18 00:12:02.898] [info] Accepted new action goal ×2 + 1.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Got request to cancel active goal. ×2 + 1.69sINFOros2_control_node[2026-09-18 00:12:03.369] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1789690323.39021373 seconds ×3 + 1.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928071 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.32sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.32sINFOobjective_server_nodecaller: ×4 + 2.32sINFOobjective_server_nodetype: 0 ×4 + 2.32sINFOobjective_server_nodename: "" ×4 + 2.32sINFOobjective_server_nodeinstance_id: "" ×4 + 2.32sINFOobjective_server_node ×4 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690324.08744645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690324.18758631 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690324.81747913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.758220 ms (missed cycles : 6).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.14e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-09-18 00:12:05.021] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739301 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705089 ms (missed cycles : 3).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_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 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_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 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_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 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746635 ms (missed cycles : 4).[0m ×2 + 0.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-18 00:12:13.551] [info] Accepted new action goal ×2 + 0.52sWARNros2_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 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687192 ms (missed cycles : 2).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690334.84764552 seconds ×3 + 1.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.17sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.17sINFOobjective_server_nodecaller: ×4 + 2.17sINFOobjective_server_nodetype: 0 ×4 + 2.17sINFOobjective_server_nodename: "" ×4 + 2.17sINFOobjective_server_nodeinstance_id: "" ×4 + 2.17sINFOobjective_server_node ×4 + 2.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690335.47301507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.871451 ms (missed cycles : 10).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690335.56315041 seconds ×3 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 2.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690336.21145463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-18 00:12:16.389] [info] Accepted new action goal ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036037 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233176 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061037 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991076 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Received new action goal ×2 + 0.41sINFOros2_control_node[2026-09-18 00:12:24.443] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994434 ms (missed cycles : 2).[0m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373212 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_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 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Got request to cancel active goal. ×2 + 2.33sINFOros2_control_node[2026-09-18 00:12:26.361] [info] Canceling active goal... ×2 + 2.34sERRORobjective_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: 1789690346.37462020 seconds ×3 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.91sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.91sINFOobjective_server_nodecaller: ×2 + 2.91sINFOobjective_server_nodetype: 0 ×2 + 2.91sINFOobjective_server_nodename: "" ×2 + 2.91sINFOobjective_server_nodeinstance_id: "" ×2 + 2.91sINFOobjective_server_node ×2 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690347.01504803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466470 ms (missed cycles : 5).[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-18 00:12:27.219] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717851 ms (missed cycles : 3).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.573715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 103 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648270 ms (missed cycles : 3).[0m ×2 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.53sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.53sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 0.54sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 0.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.67sINFOobjective_server_nodeFound path in 1 iterations (0.0034206 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.91sINFOros2_control_node[2026-09-18 00:12:46.152] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-09-18 00:12:46.153] [info] Accepted new action goal ×2 + 1.34sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Received new action goal ×2 + 1.34sINFOros2_control_node[2026-09-18 00:12:46.584] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210126 ms (missed cycles : 6).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031612 ms (missed cycles : 2).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.23sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.26sERRORobjective_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: 1789690368.50057364 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039298 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.94sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.94sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.94sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.94sINFOobjective_server_nodecaller: ×2 + 3.94sINFOobjective_server_nodetype: 0 ×2 + 3.94sINFOobjective_server_nodename: "" ×2 + 3.94sINFOobjective_server_nodeinstance_id: "" ×2 + 3.94sINFOobjective_server_node ×2 + 4.08sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690369.32063150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:12:49.454] [info] Accepted new action goal ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748303 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528360 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987865 ms (missed cycles : 2).[0m ×2 + 6.75sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-09-18 00:12:51.987] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763215 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822833 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205498 ms (missed cycles : 4).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690380.55984068 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690381.22376800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690381.28389883 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525968 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.60sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 22 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690381.88284326 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:13:02.007] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312857 ms (missed cycles : 5).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328576 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690384.01297593 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305157 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "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 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690385.65494585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660112 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:13:06.072] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899958 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897383 ms (missed cycles : 5).[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 5.785274 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785274 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189785 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785308 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789690438.38881540 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOobjective_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: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105775 ms (missed cycles : 6).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789690439.02418637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.66sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 00:13:59.178] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799653 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sWARNros2_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 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980242 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038829 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2284 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×366 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×366 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×732 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×732 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734135 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781452 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678297 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789690505.05700231 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.38sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089971 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.92sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.92sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.92sINFOobjective_server_nodecaller: ×2 + 3.92sINFOobjective_server_nodetype: 0 ×2 + 3.92sINFOobjective_server_nodename: "" ×2 + 3.92sINFOobjective_server_nodeinstance_id: "" ×2 + 3.92sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789690505.77791548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-18 00:15:05.972] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581903 ms (missed cycles : 4).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097085 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824458 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867783 ms (missed cycles : 2).[0m ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-09-18 00:15:13.087] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819636 ms (missed cycles : 2).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-09-18 00:15:14.771] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441264 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-18 00:15:15.868] [info] Canceling active goal... ×2 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690515.88236976 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324019 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789690516.57287574 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-09-18 00:15:16.760] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553138 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092371 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094329 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167294 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.070555 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126686 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.99sINFOobjective_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 + 3.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690526.86330056 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987482 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.54sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.54sINFOobjective_server_nodecaller: ×2 + 3.54sINFOobjective_server_nodetype: 0 ×2 + 3.54sINFOobjective_server_nodename: "" ×2 + 3.54sINFOobjective_server_nodeinstance_id: "" ×2 + 3.54sINFOobjective_server_node ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789690527.46190977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.90sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-09-18 00:15:27.761] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317931 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694316 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608152 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366592 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191013 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132672 ms (missed cycles : 5).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789690537.36087418 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.42sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.42sINFOobjective_server_nodecaller: ×2 + 3.42sINFOobjective_server_nodetype: 0 ×2 + 3.42sINFOobjective_server_nodename: "" ×2 + 3.42sINFOobjective_server_nodeinstance_id: "" ×2 + 3.42sINFOobjective_server_node ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880819 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789690538.02184081 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.62sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-18 00:15:38.155] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745395 ms (missed cycles : 4).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537287 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 2.63sWARNros2_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 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1789690548.36211181 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 2.63sWARNros2_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 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1789690548.36211181 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 2.63sWARNros2_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 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1789690548.36211181 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 193 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157716 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 2.63sWARNros2_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 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1789690548.36211181 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.68sINFOobjective_server_nodecaller: ×6 + 3.68sINFOobjective_server_nodetype: 0 ×6 + 3.68sINFOobjective_server_nodename: "" ×6 + 3.68sINFOobjective_server_nodeinstance_id: "" ×6 + 3.68sINFOobjective_server_node ×6 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.42sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 5.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.01sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.07sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690548.36211181 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690548.36211181 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372709 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720534 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789690548.36211181 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031372 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.47sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.47sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.47sINFOobjective_server_nodecaller: ×6 + 2.47sINFOobjective_server_nodetype: 0 ×6 + 2.47sINFOobjective_server_nodename: "" ×6 + 2.47sINFOobjective_server_nodeinstance_id: "" ×6 + 2.47sINFOobjective_server_node ×6 + 2.53sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789690548.99291062 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789690549.07304621 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338540 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.21sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789690549.66478252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789690549.68705869 seconds ×3 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.86sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789690550.31740808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-18 00:15:50.431] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857699 ms (missed cycles : 2).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436270 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987516 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1789690560.37211418 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.82sINFOobjective_server_nodecaller: ×8 + 3.82sINFOobjective_server_nodetype: 0 ×8 + 3.82sINFOobjective_server_nodename: "" ×8 + 3.82sINFOobjective_server_nodeinstance_id: "" ×8 + 3.82sINFOobjective_server_node ×8 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_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 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 6.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953803 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.085436 ms (missed cycles : 7).[0m ×2 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763977 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.881377 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Got request to cancel active goal. ×2 + 3.28sINFOros2_control_node[2026-09-18 00:16:00.367] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1789690560.37211418 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.30sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.82sINFOobjective_server_nodecaller: ×8 + 3.82sINFOobjective_server_nodetype: 0 ×8 + 3.82sINFOobjective_server_nodename: "" ×8 + 3.82sINFOobjective_server_nodeinstance_id: "" ×8 + 3.82sINFOobjective_server_node ×8 + 3.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690560.96776128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074251 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690562.00795603 seconds ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302046 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789690562.63701749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.55sINFOobjective_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 + 5.55sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.55sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789690562.63967490 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789690563.28875208 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789690563.33245397 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870402 ms (missed cycles : 5).[0m ×2 + 6.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×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 · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [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 | 7.0s | 31 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/2026-09-18-00-11-30-295231-ce2c4e94f371-7173 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.943744 ms (missed cycles : 8). + 0.99sINFOros2_control_node-1process started with pid [7221] ×2 + 0.99sINFOmove_group-9process started with pid [7272] ×2 + 0.99sINFOparameter_manager_node-10process started with pid [7273] ×2 + 0.99sINFOwaypoint_manager_node-11process started with pid [7274] ×2 + 0.99sINFOmove_joint_resampler_node-12process started with pid [7275] ×2 + 0.99sINFOmove_end_effector_resampler_node-13process started with pid [7276] ×2 + 0.99sINFOobjective_server_node_main-14process started with pid [7277] ×2 + 0.99sINFOcomponent_container_mt-15process started with pid [7278] ×2 + 0.99sINFOcomponent_container_mt-16process started with pid [7279] ×2 + 0.99sINFOexecute_objective_bridge-17process started with pid [7280] ×2 + 0.99sINFOui_teleop_bridge-18process started with pid [7281] ×2 + 0.99sINFOweb_bridge-19process started with pid [7282] ×2 + 0.99sINFOtf2_web_republisher_node-20process started with pid [7357] ×2 + 0.99sINFOvideo_server-21process started with pid [7358] ×2 + 0.99sINFOweb_bridge_auth_proxy-22process started with pid [7359] ×2 + 0.99sINFOweb_video_auth_proxy-23process started with pid [7360] ×2 + 1.00sINFOros2-2process started with pid [7222] ×2 + 1.00sINFOros2-3process started with pid [7223] ×2 + 1.00sINFOros2-4process started with pid [7224] ×2 + 1.00sINFOros2-5process started with pid [7225] ×2 + 1.00sINFOros2-6process started with pid [7226] ×2 + 1.00sINFOros2-7process started with pid [7227] ×2 + 1.00sINFOros2-8process started with pid [7228] ×2 + 1.01sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.01sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.01sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.01sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.01sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.01sWARNros2_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 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.943744 ms (missed cycles : 8).[0m ×2 + 1.06sINFOcontroller_managerReceived robot description from topic. + 1.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF configuration loaded from /tmp/moveit-webrtc-dvqxfuic/mediamtx.yml ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.50sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.83sINFOmove_group[2026-09-18 00:11:32.502] [moveit_pro_license] [info] ×2 + 1.83sINFOmove_group************************************************* ×4 + 1.83sINFOmove_group* MoveIt Pro License ×2 + 1.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.23sINFOmove_group ×4 + 2.23sINFOmove_group[92mYou can start planning now![0m ×2 + 2.25sINFOwaypoint_manager_node[2026-09-18 00:11:32.925] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.48sINFOros2_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 + 2.49sINFOros2_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 + 3.04sINFOobjective_server_node[2026-09-18 00:11:33.709] [moveit_pro_license] [info] ×2 + 3.04sINFOobjective_server_node************************************************* ×4 + 3.04sINFOobjective_server_node* MoveIt Pro License ×2 + 3.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827235 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827235 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_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 + 3.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.19sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 4.18sINFOcomponent_container_mt[2026-09-18 00:11:34.852] [moveit_pro_license] [info] ×2 + 4.18sINFOcomponent_container_mt************************************************* ×4 + 4.18sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.18sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.54sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.54sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.55sWARNros2_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 + 4.55sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.55sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.55sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.55sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.55sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.55sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.55sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.55sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.55sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.55sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.55sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.55sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.55sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.55sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.55sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 4.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 4.77sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.78sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.78sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.79sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.79sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.10sINFOros2-4process has finished cleanly [pid 7224] ×2 + 5.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 5.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 5.20sINFOros2_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 + 5.20sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 5.20sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 5.21sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.21sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.21sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.24sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.24sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 5.24sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 5.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 5.54sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 5.56sINFOros2-6process has finished cleanly [pid 7226] ×2 + 5.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.58sINFOforce_torque_sensor_broadcasterconfigure successful + 5.58sINFOros2_control_nodeconfigure successful[0m ×2 + 5.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.58sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.58sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.58sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.91sINFOros2-2process has finished cleanly [pid 7222] ×2 + 5.96sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 5.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 5.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.02sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 6.03sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 6.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 6.37sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.39sINFOros2-8process has finished cleanly [pid 7228] ×2 + 6.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.50sINFOobjective_server_nodecaller: ×10 + 6.50sINFOobjective_server_nodetype: 0 ×10 + 6.50sINFOobjective_server_nodename: "" ×10 + 6.50sINFOobjective_server_nodeinstance_id: "" ×10 + 6.50sINFOobjective_server_node ×10 + 6.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 6.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.71sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.71sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.71sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.71sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.73sINFOros2-3process has finished cleanly [pid 7223] ×2 + 6.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 6.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 6.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.84sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 6.84sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.10sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 7.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 7.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.20sINFOros2-7process has finished cleanly [pid 7227] ×2 + 7.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.22sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.22sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.22sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.22sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.22sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.52sINFOros2-5process has finished cleanly [pid 7225] ×2 + 8.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 8.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 8.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.69sWARNros2_control_nodeCamera render tick took 1.82 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 + 8.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 9.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 9.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 22 warnings · 466 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.34sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 0.34sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×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 + 0.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.70sINFOros2-7process has finished cleanly [pid 7227] ×2 + 0.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[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: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 5.19sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 7.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.70sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 504 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2-8process has finished cleanly [pid 7228] ×2 + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.28sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.28sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.34sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 5.81sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 182 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/2026-09-18-00-11-30-295231-ce2c4e94f371-7173 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.66sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.67sINFOcontroller_managerupdate rate is 600 Hz + 0.67sINFOcontroller_managerOverruns handling is : enabled + 0.67sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.67sWARNcontroller_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. + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.943744 ms (missed cycles : 8). + 0.99sINFOros2_control_node-1process started with pid [7221] ×2 + 0.99sINFOmove_group-9process started with pid [7272] ×2 + 0.99sINFOparameter_manager_node-10process started with pid [7273] ×2 + 0.99sINFOwaypoint_manager_node-11process started with pid [7274] ×2 + 0.99sINFOmove_joint_resampler_node-12process started with pid [7275] ×2 + 0.99sINFOmove_end_effector_resampler_node-13process started with pid [7276] ×2 + 0.99sINFOobjective_server_node_main-14process started with pid [7277] ×2 + 0.99sINFOcomponent_container_mt-15process started with pid [7278] ×2 + 0.99sINFOcomponent_container_mt-16process started with pid [7279] ×2 + 0.99sINFOexecute_objective_bridge-17process started with pid [7280] ×2 + 0.99sINFOui_teleop_bridge-18process started with pid [7281] ×2 + 0.99sINFOweb_bridge-19process started with pid [7282] ×2 + 0.99sINFOtf2_web_republisher_node-20process started with pid [7357] ×2 + 0.99sINFOvideo_server-21process started with pid [7358] ×2 + 0.99sINFOweb_bridge_auth_proxy-22process started with pid [7359] ×2 + 0.99sINFOweb_video_auth_proxy-23process started with pid [7360] ×2 + 1.00sINFOros2-2process started with pid [7222] ×2 + 1.00sINFOros2-3process started with pid [7223] ×2 + 1.00sINFOros2-4process started with pid [7224] ×2 + 1.00sINFOros2-5process started with pid [7225] ×2 + 1.00sINFOros2-6process started with pid [7226] ×2 + 1.00sINFOros2-7process started with pid [7227] ×2 + 1.00sINFOros2-8process started with pid [7228] ×2 + 1.01sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.01sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.01sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.01sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.01sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.01sWARNros2_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 + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.943744 ms (missed cycles : 8).[0m ×2 + 1.06sINFOcontroller_managerReceived robot description from topic. + 1.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.06sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.06sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.10sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF configuration loaded from /tmp/moveit-webrtc-dvqxfuic/mediamtx.yml ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.31sINFOvideo_server2026/09/18 00:11:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.50sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.83sINFOmove_group[2026-09-18 00:11:32.502] [moveit_pro_license] [info] ×2 + 1.83sINFOmove_group************************************************* ×4 + 1.83sINFOmove_group* MoveIt Pro License ×2 + 1.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.23sINFOmove_group ×4 + 2.23sINFOmove_group[92mYou can start planning now![0m ×2 + 2.25sINFOwaypoint_manager_node[2026-09-18 00:11:32.925] [moveit_pro_license] [info] ×2 + 2.25sINFOwaypoint_manager_node************************************************* ×4 + 2.25sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.25sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.48sINFOros2_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 + 2.49sINFOros2_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 + 3.04sINFOobjective_server_node[2026-09-18 00:11:33.709] [moveit_pro_license] [info] ×2 + 3.04sINFOobjective_server_node************************************************* ×4 + 3.04sINFOobjective_server_node* MoveIt Pro License ×2 + 3.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827235 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827235 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_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 + 3.17sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.19sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.19sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.40sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.40sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 564 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.02sINFOros2_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 + 0.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.02sWARNros2_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 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.39sINFOros2-6process has finished cleanly [pid 7226] ×2 + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOforce_torque_sensor_broadcasterconfigure successful + 0.40sINFOros2_control_nodeconfigure successful[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.74sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×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_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [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 + 1.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.22sINFOros2-8process has finished cleanly [pid 7228] ×2 + 1.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.56sINFOros2-3process has finished cleanly [pid 7223] ×2 + 1.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOros2-7process has finished cleanly [pid 7227] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.06sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.06sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.35sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 564 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.02sINFOros2_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 + 0.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.02sWARNros2_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 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.39sINFOros2-6process has finished cleanly [pid 7226] ×2 + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOforce_torque_sensor_broadcasterconfigure successful + 0.40sINFOros2_control_nodeconfigure successful[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.74sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×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_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [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 + 1.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.22sINFOros2-8process has finished cleanly [pid 7228] ×2 + 1.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.56sINFOros2-3process has finished cleanly [pid 7223] ×2 + 1.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOros2-7process has finished cleanly [pid 7227] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.06sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.06sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.35sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 564 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.02sINFOros2_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 + 0.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.02sWARNros2_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 + 0.04sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_node[2026-09-18 00:11:35.886] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.06sINFOros2_control_node[2026-09-18 00:11:35.910] [info] Controller state will be published at 50 Hz. ×2 + 0.07sINFOros2_control_node[2026-09-18 00:11:35.917] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.16sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767901 ms (missed cycles : 2).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.36sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.36sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.36sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.36sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.39sINFOros2-6process has finished cleanly [pid 7226] ×2 + 0.39sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOforce_torque_sensor_broadcasterconfigure successful + 0.40sINFOros2_control_nodeconfigure successful[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.74sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.78sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.78sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.85sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×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_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.18sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [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 + 1.22sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.22sINFOros2-8process has finished cleanly [pid 7228] ×2 + 1.22sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.33sINFOobjective_server_nodecaller: ×14 + 1.33sINFOobjective_server_nodetype: 0 ×14 + 1.33sINFOobjective_server_nodename: "" ×14 + 1.33sINFOobjective_server_nodeinstance_id: "" ×14 + 1.33sINFOobjective_server_node ×14 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.56sINFOros2-3process has finished cleanly [pid 7223] ×2 + 1.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 1.67sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sINFOros2-7process has finished cleanly [pid 7227] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.06sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.06sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.35sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.52sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.38sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 19 warnings · 504 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-2process has finished cleanly [pid 7222] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-18 00:11:36.695] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-18 00:11:36.699] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.51sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.51sINFOros2-8process has finished cleanly [pid 7228] ×2 + 0.51sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.51sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.51sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.52sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.62sINFOobjective_server_nodecaller: ×14 + 0.62sINFOobjective_server_nodetype: 0 ×14 + 0.62sINFOobjective_server_nodename: "" ×14 + 0.62sINFOobjective_server_nodeinstance_id: "" ×14 + 0.62sINFOobjective_server_node ×14 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 0.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.85sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 0.96sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.28sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.28sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 1.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOros2-7process has finished cleanly [pid 7227] ×2 + 1.34sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.34sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.34sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.34sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.34sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.34sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.34sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.35sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.35sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.35sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.35sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.36sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7225] ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.81sWARNros2_control_nodeCamera render tick took 1.82 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 5.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 5.81sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 19 warnings · 452 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690297.23088765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690297.24108601 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.23sINFOros2-3process has finished cleanly [pid 7223] ×2 + 0.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.34sINFOros2_control_node[2026-09-18 00:11:37.516] [info] Controller state will be published at 10 Hz. ×2 + 0.34sINFOros2_control_node[2026-09-18 00:11:37.517] [info] VelocityForceController 'on_configure' succeeded. ×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 + 0.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.67sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 + 0.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_y2agia7z --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gd5gcp3j --params-file /tmp/launch_params__gda0r24 [0m ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690297.85059905 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.70sINFOros2-7process has finished cleanly [pid 7227] ×2 + 0.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.02sINFOros2-5process has finished cleanly [pid 7225] ×2 + 1.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.19sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[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: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 5.19sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 5.19sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [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 · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [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 · 354 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 + 7.34sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749135 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749135 ms (missed cycles : 3).[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 · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [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 · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 352 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7225] ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690298.76073694 seconds ×3 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670073 ms (missed cycles : 2).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.47sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690299.38017130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690299.44032764 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690300.09801507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690300.11813188 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168508 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690300.70563269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690300.85619545 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301282 ms (missed cycles : 4).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690301.56869435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690301.61881495 seconds ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.34sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690302.23255086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.2061e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994066 ms (missed cycles : 2).[0m ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-09-18 00:11:42.369] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934363 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321573 ms (missed cycles : 5).[0m ×2 + 6.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Received new action goal ×2 + 6.98sINFOros2_control_node[2026-09-18 00:11:44.877] [info] Accepted new action goal ×2 | ||||