129
Total objective tests
32
Objectives passed
0
Objectives failed
97
Objectives skipped
9.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 45.6s | 166 warnings · 21312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789691050.20027542 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789691050.82218385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_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 + 6.42sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_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 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262840 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262840 ms (missed cycles : 2).[0m ×2 + 8.48sINFOjoint_trajectory_controllerReceived new action goal ×3508 + 8.48sINFOjoint_trajectory_controllerAccepted new action goal ×3508 + 8.48sINFOros2_control_nodeReceived new action goal[0m ×7016 + 8.48sINFOros2_control_nodeAccepted new action goal[0m ×7016 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047795 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047795 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754776 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754776 ms (missed cycles : 2).[0m ×2 + 9.77sWARNros2_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 ×4 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764786 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764786 ms (missed cycles : 2).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602317 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602317 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958900 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958900 ms (missed cycles : 2).[0m ×2 + 13.50sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.50sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 13.50sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 13.50sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 13.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965444 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965444 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099107 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099107 ms (missed cycles : 2).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710778 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710778 ms (missed cycles : 2).[0m ×2 + 16.80sWARNros2_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 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513864 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513864 ms (missed cycles : 2).[0m ×2 + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987783 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987783 ms (missed cycles : 2).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528814 ms (missed cycles : 3). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528814 ms (missed cycles : 3).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024265 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024265 ms (missed cycles : 2).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343937 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343937 ms (missed cycles : 2).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717387 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717387 ms (missed cycles : 2).[0m ×2 + 23.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903690 ms (missed cycles : 5). + 23.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903690 ms (missed cycles : 5).[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815774 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815774 ms (missed cycles : 2).[0m ×2 + 24.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×4 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945194 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945194 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688435 ms (missed cycles : 3). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688435 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310425 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310425 ms (missed cycles : 2).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459729 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459729 ms (missed cycles : 2).[0m ×2 + 29.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058689 ms (missed cycles : 2). + 29.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058689 ms (missed cycles : 2).[0m ×2 + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039262 ms (missed cycles : 2). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039262 ms (missed cycles : 2).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490178 ms (missed cycles : 4). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490178 ms (missed cycles : 4).[0m ×2 + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712104 ms (missed cycles : 2). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712104 ms (missed cycles : 2).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463698 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463698 ms (missed cycles : 3).[0m ×2 + 34.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730802 ms (missed cycles : 2). + 34.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730802 ms (missed cycles : 2).[0m ×2 + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403765 ms (missed cycles : 2). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403765 ms (missed cycles : 2).[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729954 ms (missed cycles : 3). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729954 ms (missed cycles : 3).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173260 ms (missed cycles : 2). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173260 ms (missed cycles : 2).[0m ×2 + 38.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299557 ms (missed cycles : 2). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299557 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808943 ms (missed cycles : 2). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808943 ms (missed cycles : 2).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844681 ms (missed cycles : 3). + 41.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844681 ms (missed cycles : 3).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256219 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256219 ms (missed cycles : 2).[0m ×2 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937192 ms (missed cycles : 2). + 43.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937192 ms (missed cycles : 2).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780109 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780109 ms (missed cycles : 2).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367754 ms (missed cycles : 4). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367754 ms (missed cycles : 4).[0m ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064972 ms (missed cycles : 2). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064972 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696634 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696634 ms (missed cycles : 2).[0m ×2 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113107 ms (missed cycles : 2). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113107 ms (missed cycles : 2).[0m ×2 + 48.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691095.83057475 seconds ×3 + 48.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 49.04sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 49.43sINFOobjective_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: ""
+ 49.43sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667638 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667638 ms (missed cycles : 2).[0m ×2 + 49.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789691096.47432923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 49.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 49.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 49.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 49.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 49.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 49.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 49.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 49.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 49.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.67sINFOros2_control_node[2026-09-18 00:24:56.617] [info] Received new action goal ×2 + 49.67sINFOros2_control_node[2026-09-18 00:24:56.618] [info] Accepted new action goal ×2 + 50.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.104399 ms (missed cycles : 8). + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.104399 ms (missed cycles : 8).[0m ×2 + 50.69sWARNros2_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 + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546513 ms (missed cycles : 3). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546513 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 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: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×4 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 7.10sINFOros2_control_node[2026-09-18 00:23:20.264] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-09-18 00:23:20.264] [info] Accepted new action goal ×2 + 7.19sWARNros2_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 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554797 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554797 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234300 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234300 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491017 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491017 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.25sINFOros2_control_node[2026-09-18 00:23:23.414] [info] Received new action goal ×2 + 10.25sINFOros2_control_node[2026-09-18 00:23:23.414] [info] Accepted new action goal ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494653 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494653 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252985 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252985 ms (missed cycles : 3).[0m ×2 + 12.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718865 ms (missed cycles : 3). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718865 ms (missed cycles : 3).[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.26sINFOros2_control_node[2026-09-18 00:23:26.427] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-09-18 00:23:26.428] [info] Accepted new action goal ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445912 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445912 ms (missed cycles : 2).[0m ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147946 ms (missed cycles : 5). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147946 ms (missed cycles : 5).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200065 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200065 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_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 + 16.23sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.23sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.23sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582387 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582387 ms (missed cycles : 2).[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794980 ms (missed cycles : 2). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794980 ms (missed cycles : 2).[0m ×2 + 18.13sWARNros2_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 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597713 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597713 ms (missed cycles : 3).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431846 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431846 ms (missed cycles : 3).[0m ×2 + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904656 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904656 ms (missed cycles : 3).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279440 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279440 ms (missed cycles : 2).[0m ×2 + 23.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.05sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.05sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.05sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.05sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366800 ms (missed cycles : 3). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366800 ms (missed cycles : 3).[0m ×2 + 23.98sINFOros2_control_node[2026-09-18 00:23:37.147] [info] Received new action goal ×2 + 23.98sINFOros2_control_node[2026-09-18 00:23:37.147] [info] Accepted new action goal ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472600 ms (missed cycles : 3). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472600 ms (missed cycles : 3).[0m ×2 + 25.15sINFOobjective_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 + 25.16sINFOobjective_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 + 25.44sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 25.44sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 25.49sINFOros2_control_node[2026-09-18 00:23:38.650] [info] Received new action goal ×2 + 25.49sINFOros2_control_node[2026-09-18 00:23:38.650] [info] Accepted new action goal ×2 + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076789 ms (missed cycles : 4). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076789 ms (missed cycles : 4).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954710 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954710 ms (missed cycles : 2).[0m ×2 + 27.62sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 27.62sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 27.63sINFOros2_control_node[2026-09-18 00:23:40.798] [info] Received new action goal ×2 + 27.63sINFOros2_control_node[2026-09-18 00:23:40.798] [info] Accepted new action goal ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755034 ms (missed cycles : 3). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755034 ms (missed cycles : 3).[0m ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051768 ms (missed cycles : 4). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051768 ms (missed cycles : 4).[0m ×2 + 29.33sWARNros2_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 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586259 ms (missed cycles : 3). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586259 ms (missed cycles : 3).[0m ×2 + 30.66sINFOros2_control_node[2026-09-18 00:23:43.828] [info] Received new action goal ×2 + 30.66sINFOros2_control_node[2026-09-18 00:23:43.828] [info] Accepted new action goal ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327059 ms (missed cycles : 6). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.327059 ms (missed cycles : 6).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049103 ms (missed cycles : 5). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.049103 ms (missed cycles : 5).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891365 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891365 ms (missed cycles : 2).[0m ×2 + 33.25sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 33.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 33.32sINFOros2_control_node[2026-09-18 00:23:46.486] [info] Received new action goal ×2 + 33.32sINFOros2_control_node[2026-09-18 00:23:46.486] [info] Accepted new action goal ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049789 ms (missed cycles : 4). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049789 ms (missed cycles : 4).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098211 ms (missed cycles : 4). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098211 ms (missed cycles : 4).[0m ×2 + 35.32sWARNros2_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 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366616 ms (missed cycles : 2). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366616 ms (missed cycles : 2).[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887756 ms (missed cycles : 5). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.887756 ms (missed cycles : 5).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502591 ms (missed cycles : 3). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502591 ms (missed cycles : 3).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535337 ms (missed cycles : 4). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535337 ms (missed cycles : 4).[0m ×2 + 40.34sWARNros2_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 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782886 ms (missed cycles : 2). + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782886 ms (missed cycles : 2).[0m ×2 + 42.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289096 ms (missed cycles : 3). + 42.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289096 ms (missed cycles : 3).[0m ×2 + 42.81sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040164 ms (missed cycles : 4). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040164 ms (missed cycles : 4).[0m ×2 + 44.25sINFOros2_control_node[2026-09-18 00:23:57.410] [info] Received new action goal ×2 + 44.25sINFOros2_control_node[2026-09-18 00:23:57.410] [info] Accepted new action goal ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300846 ms (missed cycles : 3). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300846 ms (missed cycles : 3).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318745 ms (missed cycles : 2). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318745 ms (missed cycles : 2).[0m ×2 + 45.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789691038.56706238 seconds ×3 + 46.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.00sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.19sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789691039.35860348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943279 ms (missed cycles : 2). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943279 ms (missed cycles : 2).[0m ×2 + 46.41sWARNros2_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 + 47.21sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 47.23sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 47.24sINFOros2_control_node[2026-09-18 00:24:00.403] [info] Received new action goal ×2 + 47.24sINFOros2_control_node[2026-09-18 00:24:00.403] [info] Accepted new action goal ×2 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882827 ms (missed cycles : 5). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882827 ms (missed cycles : 5).[0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758623 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758623 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 14634 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2406 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2406 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4812 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4812 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064972 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064972 ms (missed cycles : 2).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696634 ms (missed cycles : 2). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696634 ms (missed cycles : 2).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113107 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113107 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691095.83057475 seconds ×3 + 3.26sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.26sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.26sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.41sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667638 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667638 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789691096.47432923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.05sINFOros2_control_node[2026-09-18 00:24:56.617] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-18 00:24:56.618] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.104399 ms (missed cycles : 8). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.104399 ms (missed cycles : 8).[0m ×2 + 5.07sWARNros2_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 + 5.30sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.35sINFOobjective_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 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546513 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546513 ms (missed cycles : 3).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978706 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978706 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762835 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762835 ms (missed cycles : 2).[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679686 ms (missed cycles : 6). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679686 ms (missed cycles : 6).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963573 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963573 ms (missed cycles : 2).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852568 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852568 ms (missed cycles : 2).[0m ×2 + 12.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424408 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424408 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207897 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207897 ms (missed cycles : 2).[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973943 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973943 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146021 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146021 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993826 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993826 ms (missed cycles : 2).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691636 ms (missed cycles : 2). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691636 ms (missed cycles : 2).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148667 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148667 ms (missed cycles : 2).[0m ×2 + 19.18sWARNros2_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 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157541 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157541 ms (missed cycles : 2).[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824164 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824164 ms (missed cycles : 2).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320878 ms (missed cycles : 2). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320878 ms (missed cycles : 2).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 25.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 26.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.03sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.31sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 26.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.32sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 26.32sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00345922 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.37sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-09-18 00:22:58.292] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-18 00:22:58.293] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.36sERRORobjective_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: 1789690979.85770607 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.07sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.07sINFOobjective_server_nodecaller: ×6 + 3.07sINFOobjective_server_nodetype: 0 ×6 + 3.07sINFOobjective_server_nodename: "" ×6 + 3.07sINFOobjective_server_nodeinstance_id: "" ×6 + 3.07sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690980.67689490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.37sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5).[0m ×2 + 5.11sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3).[0m ×2 + 5.84sINFOros2_control_node[2026-09-18 00:23:03.336] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-18 00:23:03.336] [info] Accepted new action goal ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345998 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.345998 ms (missed cycles : 4).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381833 ms (missed cycles : 3). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381833 ms (missed cycles : 3).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871438 ms (missed cycles : 3). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871438 ms (missed cycles : 3).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052912 ms (missed cycles : 4). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052912 ms (missed cycles : 4).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345410 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345410 ms (missed cycles : 2).[0m ×2 + 11.05sWARNros2_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 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690991.90944099 seconds ×3 + 15.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690992.56633306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690992.62646794 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4).[0m ×2 + 15.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.67sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.72sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 15.85sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 15.85sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 16.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 17.85sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.36sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.36sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.36sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.36sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040164 ms (missed cycles : 4). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040164 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.43sINFOros2_control_node[2026-09-18 00:23:57.410] [info] Received new action goal ×2 + 1.43sINFOros2_control_node[2026-09-18 00:23:57.410] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300846 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300846 ms (missed cycles : 3).[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318745 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318745 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1789691038.56706238 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.18sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.18sINFOobjective_server_nodecaller: ×4 + 3.18sINFOobjective_server_nodetype: 0 ×4 + 3.18sINFOobjective_server_nodename: "" ×4 + 3.18sINFOobjective_server_nodeinstance_id: "" ×4 + 3.18sINFOobjective_server_node ×4 + 3.38sINFOobjective_server_nodeObjective `Push Button` starting at time: 1789691039.35860348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943279 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943279 ms (missed cycles : 2).[0m ×2 + 3.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.43sINFOros2_control_node[2026-09-18 00:24:00.403] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-18 00:24:00.403] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882827 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.882827 ms (missed cycles : 5).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758623 ms (missed cycles : 3). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758623 ms (missed cycles : 3).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545670 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545670 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504985 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504985 ms (missed cycles : 2).[0m ×2 + 8.13sINFOobjective_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 + 8.13sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.13sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.14sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.14sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543228 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543228 ms (missed cycles : 2).[0m ×2 + 9.29sWARNros2_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 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027016 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.027016 ms (missed cycles : 5).[0m ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 10.61sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.62sINFOros2_control_node[2026-09-18 00:24:06.595] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-09-18 00:24:06.595] [info] Accepted new action goal ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8).[0m ×2 + 14.22sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789691050.20027542 seconds ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4).[0m ×2 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789691050.82218385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 15.00sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.01sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3).[0m ×2 + 15.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5).[0m ×2 + 17.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.38sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3).[0m ×2 + 17.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 58 errors · 39 warnings · 361 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.00sINFOobjective_server_nodecaller: ×8 + 0.00sINFOobjective_server_nodetype: 0 ×8 + 0.00sINFOobjective_server_nodename: "" ×8 + 0.00sINFOobjective_server_nodeinstance_id: "" ×8 + 0.00sINFOobjective_server_node ×8 + 0.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.14sINFOobjective_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 + 2.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691177.91175723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691178.73188400 seconds ×3 + 4.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415838 ms (missed cycles : 7). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415838 ms (missed cycles : 7).[0m ×2 + 6.17sWARNros2_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 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452189 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452189 ms (missed cycles : 5).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295832 ms (missed cycles : 7). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.295832 ms (missed cycles : 7).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241591 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241591 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410222 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410222 ms (missed cycles : 2).[0m ×2 + 10.57sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.58sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORweb_video_auth_proxy-23process has died [pid 7346, 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 + 10.59sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.59sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORweb_bridge_auth_proxy-22process has died [pid 7345, 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 + 10.59sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.60sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.60sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.60sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.61sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.61sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.62sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.62sINFOvideo_server-21process has finished cleanly [pid 7344] ×2 + 10.62sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.63sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.63sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.63sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.64sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.64sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.64sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.65sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.65sINFOcontroller_managerShutdown request received.... + 10.65sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.65sINFOvideo_server2026/09/18 00:26:25 INF shutting down gracefully ×2 + 10.65sINFOvideo_server2026/09/18 00:26:25 INF [WebRTC] closing ×2 + 10.65sINFOvideo_server2026/09/18 00:26:25 INF [RTSP] closing ×2 + 10.65sINFOvideo_server2026/09/18 00:26:25 INF waiting for running hooks ×2 + 10.65sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.65sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.65sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.65sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.65sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.65sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.65sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.65sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.65sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.65sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.65sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.65sINFOcontroller_managerShutting down the controller manager. + 10.65sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.65sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.65sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.65sERRORmove_groupStack trace (most recent call last) in thread 7695: ×2 + 10.65sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.65sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.65sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.65sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.65sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.65sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.66sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.66sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.66sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.66sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.66sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.66sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.66sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.66sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.66sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.66sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.66sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.66sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe752d8ca63, in __clone ×2 + 10.66sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe752cffaa3, in ×2 + 10.66sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe752f91db3, in ×2 + 10.66sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fe7536f5b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.66sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe753323620, in rclcpp::Rate::sleep() ×2 + 10.66sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe753265d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.66sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe753227087, in ×2 + 10.66sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe752f60390, in __cxa_throw ×2 + 10.66sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe752f4aa54, in std::terminate() ×2 + 10.66sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe752f600d9, in ×2 + 10.66sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe752f4aff4, in ×2 + 10.66sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe752c8b8fe, in abort ×2 + 10.66sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe752ca827d, in raise ×2 + 10.66sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe752d01b2c, in pthread_kill ×2 + 10.66sERRORmove_groupAborted (Signal sent by tkill() 7255 0) ×2 + 10.67sERRORmove_group-9process has died [pid 7255, 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_fujy53ra --params-file /tmp/launch_params_hl726l5g --params-file /tmp/launch_params_zqhgj32p --params-file /tmp/launch_params_9pywczq2 --params-file /tmp/launch_params_o4c82iof --params-file /tmp/launch_params_e_pxh8hb']. ×2 + 10.86sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.86sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.86sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.65sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7343] ×2 + 11.65sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.67sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7259] ×2 + 11.68sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7258] ×2 + 11.70sINFOexecute_objective_bridge-17process has finished cleanly [pid 7263] ×2 + 11.71sINFOui_teleop_bridge-18process has finished cleanly [pid 7264] ×2 + 11.72sINFOwaypoint_manager_node-11process has finished cleanly [pid 7257] ×2 + 11.72sINFOparameter_manager_node-10process has finished cleanly [pid 7256] ×2 + 11.77sINFOcomponent_container_mt-16process has finished cleanly [pid 7262] ×2 + 11.79sINFOobjective_server_node[0;m[2026-09-18 00:26:26.196] [moveit_pro_license] [critical] ×2 + 11.79sINFOobjective_server_node************************************************* ×4 + 11.79sINFOobjective_server_node* MoveIt Pro License ×2 + 11.79sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.91sINFOobjective_server_node_main-14process has finished cleanly [pid 7260] ×2 + 11.91sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.80sINFOcomponent_container_mt-15process has finished cleanly [pid 7261] ×2 + 12.86sINFOweb_bridge-19process has finished cleanly [pid 7265] ×2 + 12.86sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.29sINFOros2_control_node-1process has finished cleanly [pid 7218] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 62 warnings · 388 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.08sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.65sINFOobjective_server_nodecaller: ×12 + 2.65sINFOobjective_server_nodetype: 0 ×12 + 2.65sINFOobjective_server_nodename: "" ×12 + 2.65sINFOobjective_server_nodeinstance_id: "" ×12 + 2.65sINFOobjective_server_node ×12 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4).[0m ×2 + 7.54sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.54sINFOros2_control_node[2026-09-18 00:26:06.816] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-09-18 00:26:06.816] [info] Accepted new action goal ×2 + 7.54sINFOros2_control_node[2026-09-18 00:26:06.817] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040878 ms (missed cycles : 5). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040878 ms (missed cycles : 5).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877346 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877346 ms (missed cycles : 2).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034110 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034110 ms (missed cycles : 2).[0m ×2 + 11.19sWARNros2_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 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 14.59sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 14.59sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 14.59sERRORobjective_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: 1789691173.86773205 seconds ×3 + 15.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 16.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 16.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 17.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.27sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.28sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.28sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 17.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 18.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.04sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.00sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 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: 1789690910.60301042 seconds ×3 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.95sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 2.32sWARNros2_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 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.66sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.14sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.17sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014883 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014883 ms (missed cycles : 2).[0m ×2 + 7.39sWARNros2_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 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885036 ms (missed cycles : 5). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885036 ms (missed cycles : 5).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611846 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611846 ms (missed cycles : 3).[0m ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 9.82sINFOros2_control_node[2026-09-18 00:21:59.741] [info] Received new action goal ×2 + 9.82sINFOros2_control_node[2026-09-18 00:21:59.741] [info] Accepted new action goal ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837453 ms (missed cycles : 5). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837453 ms (missed cycles : 5).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347779 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347779 ms (missed cycles : 3).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989197 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989197 ms (missed cycles : 3).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.15sINFOros2_control_node[2026-09-18 00:22:03.071] [info] Received new action goal ×2 + 13.15sINFOros2_control_node[2026-09-18 00:22:03.071] [info] Accepted new action goal ×2 + 13.44sWARNros2_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 + 14.03sINFOobjective_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 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169574 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169574 ms (missed cycles : 4).[0m ×2 + 14.04sINFOros2_control_node[2026-09-18 00:22:03.967] [info] Got request to cancel active goal. ×2 + 14.04sINFOros2_control_node[2026-09-18 00:22:03.967] [info] Canceling active goal... ×2 + 14.07sERRORobjective_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: 1789690923.99308467 seconds ×3 + 14.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.60sINFOobjective_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: ""
+ 14.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.68sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690924.60070443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 14.89sINFOros2_control_node[2026-09-18 00:22:04.816] [info] Received new action goal ×2 + 14.89sINFOros2_control_node[2026-09-18 00:22:04.816] [info] Accepted new action goal ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.318211 ms (missed cycles : 8). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.318211 ms (missed cycles : 8).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101944 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101944 ms (missed cycles : 2).[0m ×2 + 17.15sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 17.15sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.16sINFOros2_control_node[2026-09-18 00:22:07.085] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-09-18 00:22:07.085] [info] Accepted new action goal ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148133 ms (missed cycles : 5). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148133 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869323 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869323 ms (missed cycles : 3).[0m ×2 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 7.70sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 5 iterations (0.00443195 s). ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098405 ms (missed cycles : 6). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098405 ms (missed cycles : 6).[0m ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (1.98e-07 s). ×2 + 7.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.37sINFOros2_control_node[2026-09-18 00:22:43.799] [info] Received new action goal ×2 + 8.37sINFOros2_control_node[2026-09-18 00:22:43.799] [info] Accepted new action goal ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.407333 ms (missed cycles : 7). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.407333 ms (missed cycles : 7).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621233 ms (missed cycles : 6). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.621233 ms (missed cycles : 6).[0m ×2 + 10.01sWARNros2_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 + 10.64sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.92sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1789690966.36421680 seconds ×3 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118935 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118935 ms (missed cycles : 3).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336393 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336393 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119651 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119651 ms (missed cycles : 2).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.16sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690969.58424377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199326 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199326 ms (missed cycles : 2).[0m ×2 + 14.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 14.40sINFOros2_control_node[2026-09-18 00:22:49.828] [info] Received new action goal ×2 + 14.40sINFOros2_control_node[2026-09-18 00:22:49.828] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805506 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805506 ms (missed cycles : 3).[0m ×2 + 16.00sWARNros2_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 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651788 ms (missed cycles : 3). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651788 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 52 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251507 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789691150.37377191 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.26sINFOobjective_server_nodeinstance_id: "" ×8 + 3.26sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789691151.02774978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.45sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.54sWARNros2_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 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764647 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764647 ms (missed cycles : 4).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056468 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056468 ms (missed cycles : 4).[0m ×2 + 8.27sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617768 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.617768 ms (missed cycles : 4).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914255 ms (missed cycles : 4). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914255 ms (missed cycles : 4).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 11.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 13.64sINFOobjective_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 + 13.65sERRORobjective_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: 1789691161.35802722 seconds ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 14.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.22sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.89sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 15.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.78sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.79sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 15.79sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 54 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925567 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925567 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023757 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023757 ms (missed cycles : 2).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303168 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303168 ms (missed cycles : 3).[0m ×2 + 9.07sWARNros2_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 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229098 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229098 ms (missed cycles : 5).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382360 ms (missed cycles : 4). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382360 ms (missed cycles : 4).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3).[0m ×2 + 13.52sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.53sERRORobjective_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: 1789691139.85505772 seconds ×3 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.12sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789691140.45135117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 14.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.44sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3).[0m ×2 + 15.18sWARNros2_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 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 57 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: 1789690966.36421680 seconds ×3 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118935 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118935 ms (missed cycles : 3).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336393 ms (missed cycles : 3). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336393 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119651 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119651 ms (missed cycles : 2).[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1789690969.58424377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199326 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199326 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-18 00:22:49.828] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-18 00:22:49.828] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805506 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805506 ms (missed cycles : 3).[0m ×2 + 5.36sWARNros2_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 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651788 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651788 ms (missed cycles : 3).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744422 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744422 ms (missed cycles : 2).[0m ×2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 7.90sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.09sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.12sINFOobjective_server_nodeFound path in 5 iterations (0.00712885 s). ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056360 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056360 ms (missed cycles : 3).[0m ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (1.91e-07 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.91sINFOros2_control_node[2026-09-18 00:22:54.971] [info] Received new action goal ×2 + 8.91sINFOros2_control_node[2026-09-18 00:22:54.971] [info] Accepted new action goal ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168862 ms (missed cycles : 4). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168862 ms (missed cycles : 4).[0m ×2 + 9.91sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984709 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984709 ms (missed cycles : 2).[0m ×2 + 10.55sWARNros2_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 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2).[0m ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 11.44sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 11.57sINFOobjective_server_nodeFound path in 1 iterations (0.00345922 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.80sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Received new action goal ×2 + 11.80sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Accepted new action goal ×2 + 12.23sINFOros2_control_node[2026-09-18 00:22:58.292] [info] Received new action goal ×2 + 12.23sINFOros2_control_node[2026-09-18 00:22:58.293] [info] Accepted new action goal ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4).[0m ×2 + 13.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.79sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.79sERRORobjective_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: 1789690979.85770607 seconds ×3 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690980.67689490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 14.80sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Accepted new action goal ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5).[0m ×2 + 16.54sWARNros2_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 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3).[0m ×2 + 17.27sINFOros2_control_node[2026-09-18 00:23:03.336] [info] Received new action goal ×2 + 17.27sINFOros2_control_node[2026-09-18 00:23:03.336] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.76sINFOobjective_server_nodecaller: ×8 + 2.76sINFOobjective_server_nodetype: 0 ×8 + 2.76sINFOobjective_server_nodename: "" ×8 + 2.76sINFOobjective_server_nodeinstance_id: "" ×8 + 2.76sINFOobjective_server_node ×8 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942553 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942553 ms (missed cycles : 3).[0m ×2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.84sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.84sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 1 iterations (0.00321328 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.53sINFOros2_control_node[2026-09-18 00:22:21.255] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-09-18 00:22:21.255] [info] Accepted new action goal ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731576 ms (missed cycles : 6). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.731576 ms (missed cycles : 6).[0m ×2 + 8.95sWARNros2_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 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859384 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859384 ms (missed cycles : 2).[0m ×2 + 10.84sINFOros2_control_node[2026-09-18 00:22:23.558] [info] Received new action goal ×2 + 10.84sINFOros2_control_node[2026-09-18 00:22:23.558] [info] Accepted new action goal ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512029 ms (missed cycles : 6). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512029 ms (missed cycles : 6).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 12.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.49sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 12.49sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.11sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 15.23sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 15.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347779 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347779 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989197 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989197 ms (missed cycles : 3).[0m ×2 + 1.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.31sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 1.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.33sINFOros2_control_node[2026-09-18 00:22:03.071] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-09-18 00:22:03.071] [info] Accepted new action goal ×2 + 1.63sWARNros2_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 + 2.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169574 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169574 ms (missed cycles : 4).[0m ×2 + 2.23sINFOros2_control_node[2026-09-18 00:22:03.967] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-09-18 00:22:03.967] [info] Canceling active goal... ×2 + 2.25sERRORobjective_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: 1789690923.99308467 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.79sINFOobjective_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: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.79sINFOobjective_server_nodecaller: ×6 + 2.79sINFOobjective_server_nodetype: 0 ×6 + 2.79sINFOobjective_server_nodename: "" ×6 + 2.79sINFOobjective_server_nodeinstance_id: "" ×6 + 2.79sINFOobjective_server_node ×6 + 2.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1789690924.60070443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.06sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.08sINFOros2_control_node[2026-09-18 00:22:04.816] [info] Received new action goal ×2 + 3.08sINFOros2_control_node[2026-09-18 00:22:04.816] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.318211 ms (missed cycles : 8). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.318211 ms (missed cycles : 8).[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101944 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101944 ms (missed cycles : 2).[0m ×2 + 5.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.34sINFOros2_control_node[2026-09-18 00:22:07.085] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-09-18 00:22:07.085] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148133 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148133 ms (missed cycles : 5).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744395 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744395 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.416163 ms (missed cycles : 7). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.416163 ms (missed cycles : 7).[0m ×2 + 7.68sWARNros2_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 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270057 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270057 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.869655 ms (missed cycles : 7). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.869655 ms (missed cycles : 7).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 13.12sERRORobjective_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: 1789690934.86145926 seconds ×3 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 13.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.74sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.77sWARNros2_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 + 13.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 14.70sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.71sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 54 warnings · 2388 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.90sINFOobjective_server_nodecaller: ×4 + 3.90sINFOobjective_server_nodetype: 0 ×4 + 3.90sINFOobjective_server_nodename: "" ×4 + 3.90sINFOobjective_server_nodeinstance_id: "" ×4 + 3.90sINFOobjective_server_node ×4 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199381 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199381 ms (missed cycles : 4).[0m ×2 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 1 iterations (0.00321191 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.626192 ms (missed cycles : 7). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.626192 ms (missed cycles : 7).[0m ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.45sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.46sINFOros2_control_node[2026-09-18 00:25:23.164] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-09-18 00:25:23.164] [info] Accepted new action goal ×2 + 8.93sWARNros2_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 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009247 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009247 ms (missed cycles : 4).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442745 ms (missed cycles : 7). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442745 ms (missed cycles : 7).[0m ×2 + 10.77sINFOros2_control_node[2026-09-18 00:25:25.471] [info] Received new action goal ×2 + 10.77sINFOros2_control_node[2026-09-18 00:25:25.471] [info] Accepted new action goal ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 12.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.41sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 12.41sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 13.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 14.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.63sWARNros2_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 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.87sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 15.03sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 16.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.6s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.27sINFOobjective_server_nodecaller: ×6 + 2.27sINFOobjective_server_nodetype: 0 ×6 + 2.27sINFOobjective_server_nodename: "" ×6 + 2.27sINFOobjective_server_nodeinstance_id: "" ×6 + 2.27sINFOobjective_server_node ×6 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441019 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441019 ms (missed cycles : 3).[0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (6.68e-07 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.52sINFOros2_control_node[2026-09-18 00:22:31.303] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-18 00:22:31.303] [info] Accepted new action goal ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573592 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573592 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643884 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643884 ms (missed cycles : 3).[0m ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 8.86sINFOros2_control_node[2026-09-18 00:22:33.641] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-09-18 00:22:33.641] [info] Accepted new action goal ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757481 ms (missed cycles : 5). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757481 ms (missed cycles : 5).[0m ×2 + 9.59sWARNros2_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 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.22sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 13.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.08sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 13.08sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 13.09sERRORobjective_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: 1789690957.87239170 seconds ×3 + 13.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.66sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 13.72sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 13.91sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 13.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 13.92sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 13.92sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 15.63sWARNros2_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 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 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 5.382360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382360 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sERRORobjective_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: 1789691139.85505772 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.32sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789691140.45135117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.68sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725205 ms (missed cycles : 5). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725205 ms (missed cycles : 5).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109069 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109069 ms (missed cycles : 2).[0m ×2 + 7.71sINFOros2_control_node[2026-09-18 00:25:44.789] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-09-18 00:25:44.789] [info] Accepted new action goal ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800977 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800977 ms (missed cycles : 2).[0m ×2 + 9.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287503 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287503 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251507 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251507 ms (missed cycles : 2).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5).[0m ×2 + 13.29sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789691150.37377191 seconds ×3 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5).[0m ×2 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789691151.02774978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.07sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 14.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.08sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Received new action goal ×2 + 14.08sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Accepted new action goal ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4).[0m ×2 + 15.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690991.90944099 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.93sINFOobjective_server_nodecaller: ×6 + 2.93sINFOobjective_server_nodetype: 0 ×6 + 2.93sINFOobjective_server_nodename: "" ×6 + 2.93sINFOobjective_server_nodeinstance_id: "" ×6 + 2.93sINFOobjective_server_node ×6 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690992.56633306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690992.62646794 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.40sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.49sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.50sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.83sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 7.83sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.1s | 3 errors · 32 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 3.40sERRORobjective_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: 1789691173.86773205 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.95sINFOobjective_server_nodecaller: ×8 + 3.95sINFOobjective_server_nodetype: 0 ×8 + 3.95sINFOobjective_server_nodename: "" ×8 + 3.95sINFOobjective_server_nodeinstance_id: "" ×8 + 3.95sINFOobjective_server_node ×8 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.09sINFOobjective_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 + 6.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 6.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 + 7.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691177.91175723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2).[0m ×2 + 8.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691178.73188400 seconds ×3 + 8.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.5s | 36 warnings · 695 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 0.15sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.15sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.36sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.36sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.36sWARNros2_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 + 0.36sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.36sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.36sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.36sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.36sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.36sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.36sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.36sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.36sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.36sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.36sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.36sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.36sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.36sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.36sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.36sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.36sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.36sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.36sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.36sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.36sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.36sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.36sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.54sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.54sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.54sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.68sINFOcomponent_container_mt[2026-09-18 00:21:46.267] [moveit_pro_license] [info] ×2 + 0.68sINFOcomponent_container_mt************************************************* ×4 + 0.68sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.68sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.73sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.73sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.74sINFOros2_control_node[2026-09-18 00:21:46.324] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_node[2026-09-18 00:21:46.324] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491392 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491392 ms (missed cycles : 2).[0m ×2 + 0.76sINFOros2_control_node[2026-09-18 00:21:46.349] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.76sINFOros2_control_node[2026-09-18 00:21:46.349] [info] Controller state will be published at 50 Hz. ×2 + 0.77sINFOros2_control_node[2026-09-18 00:21:46.356] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.87sINFOros2_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 + 0.87sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.87sWARNros2_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 + 1.03sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.03sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.03sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.03sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.03sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.03sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.04sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.04sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.07sINFOros2-6process has finished cleanly [pid 7223] ×2 + 1.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.08sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2-3process has finished cleanly [pid 7220] ×2 + 1.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.52sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 1.52sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 1.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.85sINFOros2-8process has finished cleanly [pid 7225] ×2 + 1.91sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.91sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.97sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 1.97sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sWARNobjective_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 + 2.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 2.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 2.32sINFOros2-7process has finished cleanly [pid 7224] ×2 + 2.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.35sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.35sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.36sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.47sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.65sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 2.65sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 2.66sINFOros2-5process has finished cleanly [pid 7222] ×2 + 2.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.69sINFOforce_torque_sensor_broadcasterconfigure successful + 2.69sINFOros2_control_nodeconfigure successful[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.70sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.70sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.75sINFOobjective_server_nodecaller: ×14 + 2.75sINFOobjective_server_nodetype: 0 ×14 + 2.75sINFOobjective_server_nodename: "" ×14 + 2.75sINFOobjective_server_nodeinstance_id: "" ×14 + 2.75sINFOobjective_server_node ×14 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 3.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 3.04sINFOros2-2process has finished cleanly [pid 7219] ×2 + 3.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.39sINFOros2-4process has finished cleanly [pid 7221] ×2 + 3.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 4.34sWARNros2_control_nodeCamera render tick took 1.74 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 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 6.66sWARNros2_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 + 7.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 7.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 7.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.80sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.00sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 8.00sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.8s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 0.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 0.09sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 0.09sERRORobjective_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: 1789691173.86773205 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_nodecaller: ×8 + 0.63sINFOobjective_server_nodetype: 0 ×8 + 0.63sINFOobjective_server_nodename: "" ×8 + 0.63sINFOobjective_server_nodeinstance_id: "" ×8 + 0.63sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.77sINFOobjective_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 + 2.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691177.91175723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691178.73188400 seconds ×3 + 4.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415838 ms (missed cycles : 7). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415838 ms (missed cycles : 7).[0m ×2 + 6.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690991.90944099 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×5 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690992.56633306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690992.62646794 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_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 + 2.81sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-18 00:22:23.558] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-18 00:22:23.558] [info] Accepted new action goal ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512029 ms (missed cycles : 6). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512029 ms (missed cycles : 6).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.65sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.57sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 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: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.27sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.40sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 4.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 554 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7220] ×2 + 0.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 7225] ×2 + 0.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 7222] ×2 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.63sINFOros2-2process has finished cleanly [pid 7219] ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2-4process has finished cleanly [pid 7221] ×2 + 2.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.74 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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 5.25sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 1.09sINFOobjective_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 + 1.10sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 1.10sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 1.10sERRORobjective_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: 1789691173.86773205 seconds ×3 + 1.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.65sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.65sINFOobjective_server_nodecaller: ×8 + 1.65sINFOobjective_server_nodetype: 0 ×8 + 1.65sINFOobjective_server_nodename: "" ×8 + 1.65sINFOobjective_server_nodeinstance_id: "" ×8 + 1.65sINFOobjective_server_node ×8 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.79sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.79sINFOobjective_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 + 3.79sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 4.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.48sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.53sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691177.91175723 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478705 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691178.73188400 seconds ×3 + 6.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016282 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 20 warnings · 2278 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.1s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156331 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197808 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sERRORobjective_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: 1789690934.86145926 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343619 ms (missed cycles : 2).[0m ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sWARNros2_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 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1789690935.53422260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1789690935.62433863 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038708 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1789690936.25627184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-18 00:22:16.450] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.431322 ms (missed cycles : 9).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984792 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622667 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267427 ms (missed cycles : 4).[0m ×2 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Received new action goal ×2 + 0.43sINFOros2_control_node[2026-09-18 00:22:25.209] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137107 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1789690946.50642204 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296367 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.27sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.27sINFOobjective_server_nodecaller: ×4 + 2.27sINFOobjective_server_nodetype: 0 ×4 + 2.27sINFOobjective_server_nodename: "" ×4 + 2.27sINFOobjective_server_nodeinstance_id: "" ×4 + 2.27sINFOobjective_server_node ×4 + 2.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1789690947.12876010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1789690947.18888521 seconds ×3 + 3.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.00sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.05sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1789690947.82936764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382125 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-18 00:22:27.953] [info] Accepted new action goal ×2 + 3.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672928 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825171 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[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 1.849104 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849104 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.56sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-09-18 00:22:36.001] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730127 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.268002 ms (missed cycles : 5).[0m ×2 + 2.43sINFOobjective_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 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-09-18 00:22:37.859] [info] Canceling active goal... ×2 + 2.45sERRORobjective_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: 1789690957.87239170 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1789690958.50216031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721397 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-18 00:22:38.696] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477427 ms (missed cycles : 3).[0m ×2 + 4.98sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605969 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299547 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00345922 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.37sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-09-18 00:22:57.860] [info] Accepted new action goal ×2 + 0.80sINFOros2_control_node[2026-09-18 00:22:58.292] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-09-18 00:22:58.293] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893491 ms (missed cycles : 2).[0m ×2 + 2.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254223 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.36sERRORobjective_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: 1789690979.85770607 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.07sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.07sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.07sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.07sINFOobjective_server_nodecaller: ×2 + 3.07sINFOobjective_server_nodetype: 0 ×2 + 3.07sINFOobjective_server_nodename: "" ×2 + 3.07sINFOobjective_server_nodeinstance_id: "" ×2 + 3.07sINFOobjective_server_node ×2 + 3.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1789690980.67689490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.35sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.37sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-09-18 00:23:00.861] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276758 ms (missed cycles : 2).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078997 ms (missed cycles : 5).[0m ×2 + 5.11sWARNros2_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 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488986 ms (missed cycles : 3).[0m ×2 + 5.84sINFOros2_control_node[2026-09-18 00:23:03.336] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-09-18 00:23:03.336] [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 1.814339 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814339 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204954 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099615 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1789690991.90944099 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.93sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.93sINFOobjective_server_nodecaller: ×4 + 2.93sINFOobjective_server_nodetype: 0 ×4 + 2.93sINFOobjective_server_nodename: "" ×4 + 2.93sINFOobjective_server_nodeinstance_id: "" ×4 + 2.93sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1789690992.56633306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1789690992.62646794 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137970 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.64sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1789690993.21706104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-18 00:23:13.340] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862091 ms (missed cycles : 5).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227171 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1789690995.34718490 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918154 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 + 3.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1789690996.98018718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_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 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950238 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-18 00:23:17.407] [info] Accepted new action goal ×2 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.693782 ms (missed cycles : 6).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960569 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.745071 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982733 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.143057 ms (missed cycles : 8).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1789691050.20027542 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964588 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOobjective_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: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1789691050.82218385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-09-18 00:24:10.986] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445053 ms (missed cycles : 3).[0m ×2 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.044488 ms (missed cycles : 5).[0m ×2 + 6.41sINFOobjective_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 + 6.42sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859763 ms (missed cycles : 3).[0m ×2 + 6.49sINFOobjective_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 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2278 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2278 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2278 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2278 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×365 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×365 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×730 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×730 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741329 ms (missed cycles : 2).[0m ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105377 ms (missed cycles : 5).[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786541 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1789691117.96465635 seconds ×3 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.90sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.90sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.90sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.90sINFOobjective_server_nodecaller: ×2 + 3.90sINFOobjective_server_nodetype: 0 ×2 + 3.90sINFOobjective_server_nodename: "" ×2 + 3.90sINFOobjective_server_nodeinstance_id: "" ×2 + 3.90sINFOobjective_server_node ×2 + 3.92sWARNros2_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 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555585 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1789691118.68717480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-09-18 00:25:18.891] [info] Accepted new action goal ×2 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772446 ms (missed cycles : 2).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147991 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994605 ms (missed cycles : 3).[0m ×2 + 0.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-18 00:25:27.110] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298563 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1789691128.40735078 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877442 ms (missed cycles : 2).[0m ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sWARNros2_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 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.13sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.13sINFOobjective_server_nodecaller: ×2 + 3.13sINFOobjective_server_nodetype: 0 ×2 + 3.13sINFOobjective_server_nodename: "" ×2 + 3.13sINFOobjective_server_nodeinstance_id: "" ×2 + 3.13sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1789691129.57439351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315072 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-09-18 00:25:29.728] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942983 ms (missed cycles : 2).[0m ×2 + 5.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382360 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382360 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576829 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640729 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sERRORobjective_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: 1789691139.85505772 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630351 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.32sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.32sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1789691140.45135117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.68sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-18 00:25:40.763] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539084 ms (missed cycles : 3).[0m ×2 + 4.43sWARNros2_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 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003733 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 2.251507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251507 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360931 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048239 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1789691150.37377191 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.166548 ms (missed cycles : 5).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.26sINFOobjective_server_nodeinstance_id: "" ×2 + 3.26sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1789691151.02774978 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.45sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-18 00:25:51.161] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221413 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945702 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.54sWARNros2_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 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_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 + 2.81sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_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 + 2.81sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_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 + 2.81sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057487 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_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 + 2.81sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.50sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.78sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.83sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802385 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270334 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sERRORobjective_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: 1789691161.35802722 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153784 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.65sINFOobjective_server_nodecaller: ×6 + 2.65sINFOobjective_server_nodetype: 0 ×6 + 2.65sINFOobjective_server_nodename: "" ×6 + 2.65sINFOobjective_server_nodeinstance_id: "" ×6 + 2.65sINFOobjective_server_node ×6 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1789691161.98394275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1789691162.06407428 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1789691162.66683936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1789691162.68914413 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281924 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1789691163.37335539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-09-18 00:26:03.496] [info] Accepted new action goal ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592926 ms (missed cycles : 3).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458135 ms (missed cycles : 2).[0m ×2 + 6.10sWARNros2_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 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249342 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 3.40sERRORobjective_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: 1789691173.86773205 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.95sINFOobjective_server_nodecaller: ×6 + 3.95sINFOobjective_server_nodetype: 0 ×6 + 3.95sINFOobjective_server_nodename: "" ×6 + 3.95sINFOobjective_server_nodeinstance_id: "" ×6 + 3.95sINFOobjective_server_node ×6 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.09sINFOobjective_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 + 6.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 6.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 188 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897799 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697275 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263397 ms (missed cycles : 4).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.243616 ms (missed cycles : 4).[0m ×2 + 3.39sINFOobjective_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 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Got request to cancel active goal. ×2 + 3.40sINFOros2_control_node[2026-09-18 00:26:13.863] [info] Canceling active goal... ×2 + 3.40sERRORobjective_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: 1789691173.86773205 seconds ×3 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.95sINFOobjective_server_nodecaller: ×6 + 3.95sINFOobjective_server_nodetype: 0 ×6 + 3.95sINFOobjective_server_nodename: "" ×6 + 3.95sINFOobjective_server_nodeinstance_id: "" ×6 + 3.95sINFOobjective_server_node ×6 + 4.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691174.46507549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062985 ms (missed cycles : 2).[0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148456 ms (missed cycles : 5).[0m ×2 + 5.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691175.95519686 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1789691176.55217528 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.09sINFOobjective_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 + 6.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1789691176.55419278 seconds ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194870 ms (missed cycles : 5).[0m ×2 + 6.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.77sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1789691177.29337597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.85sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1789691177.31450510 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.7s | 39 warnings · 751 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-18-00-21-41-740359-0bd12839c0f7-7170 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189166 ms (missed cycles : 4). + 0.82sINFOros2_control_node-1process started with pid [7218] ×2 + 0.82sINFOmove_group-9process started with pid [7255] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7256] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7257] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7258] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7259] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7260] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7261] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7262] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7263] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7264] ×2 + 0.82sINFOweb_bridge-19process started with pid [7265] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7343] ×2 + 0.82sINFOvideo_server-21process started with pid [7344] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7345] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7346] ×2 + 0.82sINFOros2-2process started with pid [7219] ×2 + 0.83sINFOros2-3process started with pid [7220] ×2 + 0.83sINFOros2-4process started with pid [7221] ×2 + 0.83sINFOros2-5process started with pid [7222] ×2 + 0.83sINFOros2-6process started with pid [7223] ×2 + 0.83sINFOros2-7process started with pid [7224] ×2 + 0.83sINFOros2-8process started with pid [7225] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189166 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF configuration loaded from /tmp/moveit-webrtc-oip7b72k/mediamtx.yml ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.70sINFOmove_group[2026-09-18 00:21:43.809] [moveit_pro_license] [info] ×2 + 1.70sINFOmove_group************************************************* ×4 + 1.70sINFOmove_group* MoveIt Pro License ×2 + 1.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.06sINFOwaypoint_manager_node[2026-09-18 00:21:44.170] [moveit_pro_license] [info] ×2 + 2.06sINFOwaypoint_manager_node************************************************* ×4 + 2.06sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.12sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668694 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668694 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_node[2026-09-18 00:21:45.223] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.24sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.84sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.84sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.84sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.84sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.84sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.84sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.84sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.84sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.84sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.84sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.16sINFOcomponent_container_mt[2026-09-18 00:21:46.267] [moveit_pro_license] [info] ×2 + 4.16sINFOcomponent_container_mt************************************************* ×4 + 4.16sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.16sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 4.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 4.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.21sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.21sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.22sINFOros2_control_node[2026-09-18 00:21:46.324] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.22sINFOros2_control_node[2026-09-18 00:21:46.324] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491392 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491392 ms (missed cycles : 2).[0m ×2 + 4.24sINFOros2_control_node[2026-09-18 00:21:46.349] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.24sINFOros2_control_node[2026-09-18 00:21:46.349] [info] Controller state will be published at 50 Hz. ×2 + 4.25sINFOros2_control_node[2026-09-18 00:21:46.356] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.35sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×2 + 4.35sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.35sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.51sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 4.51sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 4.52sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.55sINFOros2-6process has finished cleanly [pid 7223] ×2 + 4.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.55sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.55sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.55sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.55sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.56sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.56sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.56sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.84sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.84sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.84sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.84sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.89sINFOros2-3process has finished cleanly [pid 7220] ×2 + 4.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 4.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 4.97sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.97sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.00sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 5.00sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 5.31sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.31sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.31sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.31sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.33sINFOros2-8process has finished cleanly [pid 7225] ×2 + 5.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 5.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 5.42sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.42sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.42sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.42sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.45sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 5.45sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.51sWARNobjective_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 + 5.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.61sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.77sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 5.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 5.80sINFOros2-7process has finished cleanly [pid 7224] ×2 + 5.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.84sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.95sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 6.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 6.14sINFOros2-5process has finished cleanly [pid 7222] ×2 + 6.16sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.17sINFOforce_torque_sensor_broadcasterconfigure successful + 6.17sINFOros2_control_nodeconfigure successful[0m ×2 + 6.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.23sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.23sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.23sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.23sINFOobjective_server_nodecaller: ×10 + 6.23sINFOobjective_server_nodetype: 0 ×10 + 6.23sINFOobjective_server_nodename: "" ×10 + 6.23sINFOobjective_server_nodeinstance_id: "" ×10 + 6.23sINFOobjective_server_node ×10 + 6.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 6.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 6.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 6.52sINFOros2-2process has finished cleanly [pid 7219] ×2 + 6.52sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.85sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.87sINFOros2-4process has finished cleanly [pid 7221] ×2 + 6.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 7.82sWARNros2_control_nodeCamera render tick took 1.74 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 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 8.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.38sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 9.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 9.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 9.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 10.14sWARNros2_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 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 409 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.21sINFOros2-2process has finished cleanly [pid 7219] ×2 + 0.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.23sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.23sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.56sINFOros2-4process has finished cleanly [pid 7221] ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 1.51sWARNros2_control_nodeCamera render tick took 1.74 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 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.17sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 7.56sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.65sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.68sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 7.68sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 514 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.23sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.27sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.57sINFOros2-5process has finished cleanly [pid 7222] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 7219] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7221] ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 4.57sWARNros2_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 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.90sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 188 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/2026-09-18-00-21-41-740359-0bd12839c0f7-7170 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.64sINFOcontroller_managerupdate rate is 600 Hz + 0.64sINFOcontroller_managerOverruns handling is : enabled + 0.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.64sWARNcontroller_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. + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189166 ms (missed cycles : 4). + 0.82sINFOros2_control_node-1process started with pid [7218] ×2 + 0.82sINFOmove_group-9process started with pid [7255] ×2 + 0.82sINFOparameter_manager_node-10process started with pid [7256] ×2 + 0.82sINFOwaypoint_manager_node-11process started with pid [7257] ×2 + 0.82sINFOmove_joint_resampler_node-12process started with pid [7258] ×2 + 0.82sINFOmove_end_effector_resampler_node-13process started with pid [7259] ×2 + 0.82sINFOobjective_server_node_main-14process started with pid [7260] ×2 + 0.82sINFOcomponent_container_mt-15process started with pid [7261] ×2 + 0.82sINFOcomponent_container_mt-16process started with pid [7262] ×2 + 0.82sINFOexecute_objective_bridge-17process started with pid [7263] ×2 + 0.82sINFOui_teleop_bridge-18process started with pid [7264] ×2 + 0.82sINFOweb_bridge-19process started with pid [7265] ×2 + 0.82sINFOtf2_web_republisher_node-20process started with pid [7343] ×2 + 0.82sINFOvideo_server-21process started with pid [7344] ×2 + 0.82sINFOweb_bridge_auth_proxy-22process started with pid [7345] ×2 + 0.82sINFOweb_video_auth_proxy-23process started with pid [7346] ×2 + 0.82sINFOros2-2process started with pid [7219] ×2 + 0.83sINFOros2-3process started with pid [7220] ×2 + 0.83sINFOros2-4process started with pid [7221] ×2 + 0.83sINFOros2-5process started with pid [7222] ×2 + 0.83sINFOros2-6process started with pid [7223] ×2 + 0.83sINFOros2-7process started with pid [7224] ×2 + 0.83sINFOros2-8process started with pid [7225] ×2 + 0.84sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.84sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.84sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.84sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.84sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.84sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189166 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerReceived robot description from topic. + 0.88sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.89sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.89sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.03sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF configuration loaded from /tmp/moveit-webrtc-oip7b72k/mediamtx.yml ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.31sINFOvideo_server2026/09/18 00:21:43 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.51sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.51sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.70sINFOmove_group[2026-09-18 00:21:43.809] [moveit_pro_license] [info] ×2 + 1.70sINFOmove_group************************************************* ×4 + 1.70sINFOmove_group* MoveIt Pro License ×2 + 1.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.06sINFOwaypoint_manager_node[2026-09-18 00:21:44.170] [moveit_pro_license] [info] ×2 + 2.06sINFOwaypoint_manager_node************************************************* ×4 + 2.06sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.06sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.10sINFOmove_group ×4 + 2.10sINFOmove_group[92mYou can start planning now![0m ×2 + 2.10sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.10sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.10sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.12sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.15sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668694 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668694 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_node[2026-09-18 00:21:45.223] [moveit_pro_license] [info] ×2 + 3.11sINFOobjective_server_node************************************************* ×4 + 3.11sINFOobjective_server_node* MoveIt Pro License ×2 + 3.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.23sINFOobjective_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 + 3.23sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.24sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.24sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 3.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 554 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7220] ×2 + 0.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 7225] ×2 + 0.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 7222] ×2 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.63sINFOros2-2process has finished cleanly [pid 7219] ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2-4process has finished cleanly [pid 7221] ×2 + 2.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.74 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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 5.25sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 554 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7220] ×2 + 0.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 7225] ×2 + 0.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 7222] ×2 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.63sINFOros2-2process has finished cleanly [pid 7219] ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2-4process has finished cleanly [pid 7221] ×2 + 2.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.74 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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 5.25sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 554 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 7220] ×2 + 0.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.112] [info] Controller state will be published at 20 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-18 00:21:47.113] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764731 ms (missed cycles : 2).[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-8process has finished cleanly [pid 7225] ×2 + 0.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.53sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.55sINFOros2_control_node[2026-09-18 00:21:47.554] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-09-18 00:21:47.555] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.88sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.91sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.94sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.94sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.25sINFOros2-5process has finished cleanly [pid 7222] ×2 + 1.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.28sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOros2_control_nodeconfigure successful[0m ×2 + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.34sINFOobjective_server_nodecaller: ×14 + 1.34sINFOobjective_server_nodetype: 0 ×14 + 1.34sINFOobjective_server_nodename: "" ×14 + 1.34sINFOobjective_server_nodeinstance_id: "" ×14 + 1.34sINFOobjective_server_node ×14 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 1.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.60sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 1.60sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 1.63sINFOros2-2process has finished cleanly [pid 7219] ×2 + 1.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.98sINFOros2-4process has finished cleanly [pid 7221] ×2 + 2.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.92sWARNros2_control_nodeCamera render tick took 1.74 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 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 5.25sWARNros2_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 + 5.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 19 warnings · 514 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.20sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.20sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.20sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.23sINFOros2-7process has finished cleanly [pid 7224] ×2 + 0.26sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.26sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.26sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.26sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.26sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.26sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.26sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.27sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.27sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.27sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.27sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.27sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.27sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.55sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.57sINFOros2-5process has finished cleanly [pid 7222] ×2 + 0.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.60sINFOforce_torque_sensor_broadcasterconfigure successful + 0.60sINFOros2_control_nodeconfigure successful[0m ×2 + 0.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.66sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.66sINFOobjective_server_nodecaller: ×14 + 0.66sINFOobjective_server_nodetype: 0 ×14 + 0.66sINFOobjective_server_nodename: "" ×14 + 0.66sINFOobjective_server_nodeinstance_id: "" ×14 + 0.66sINFOobjective_server_node ×14 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 7219] ×2 + 0.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.30sINFOros2-4process has finished cleanly [pid 7221] ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 2.25sWARNros2_control_nodeCamera render tick took 1.74 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 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 4.57sWARNros2_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 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.89sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.90sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 393 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690908.41504431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690908.42531586 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.18sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.18sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.18sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.18sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp + 0.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__665cqbf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q2rseos5 --params-file /tmp/launch_params_pb_qrjvp [0m ×2 + 0.21sINFOros2-2process has finished cleanly [pid 7219] ×2 + 0.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.23sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.23sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.55sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.55sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.55sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.55sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.55sINFOobjective_server_nodecaller: ×12 + 0.55sINFOobjective_server_nodetype: 0 ×12 + 0.55sINFOobjective_server_nodename: "" ×12 + 0.55sINFOobjective_server_nodeinstance_id: "" ×12 + 0.55sINFOobjective_server_node ×12 + 0.56sINFOros2-4process has finished cleanly [pid 7221] ×2 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1789690909.01402140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 1.51sWARNros2_control_nodeCamera render tick took 1.74 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 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.17sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | capture_calibration_sample.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882450 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1789690909.92417502 seconds ×3 + 0.72sWARNros2_control_nodeCamera render tick took 1.74 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 + 0.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184120 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.28sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.28sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.28sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.28sINFOobjective_server_nodecaller: ×10 + 1.28sINFOobjective_server_nodetype: 0 ×10 + 1.28sINFOobjective_server_nodename: "" ×10 + 1.28sINFOobjective_server_nodeinstance_id: "" ×10 + 1.28sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1789690910.54284096 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1789690910.60301042 seconds ×3 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690911.31620026 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690911.33632684 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251099 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690911.92502999 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690912.07562327 seconds ×3 + 3.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.546038 ms (missed cycles : 7).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690912.79975438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690912.84987926 seconds ×3 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1789690913.45681977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.182e-05 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-09-18 00:21:53.584] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952712 ms (missed cycles : 4).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092457 ms (missed cycles : 5).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-09-18 00:21:56.091] [info] Accepted new action goal ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358269 ms (missed cycles : 7).[0m ×2 | ||||